WAGO I/O-SYSTEM 750 Technical Description

CANopen 750-337, 750-338 Manual Technical Description, Installation and Configuration Version 3.0.2

WAGO-I/O-SYSTEM 750 CANopen Copyright © 2007 by WAGO Kontakttechnik GmbH & Co. KG All rigths reserved. WAGO Kontakttechnik GmbH & Co. KG Hansastraße 27 D-32423 Minden Phone: +49 (0) 571/8 87 – 0 Fax: +49 (0) 571/8 87 – 1 69 E-Mail: [email protected] Web: http://www.wago.com Technical Support Phone: +49 (0) 571/8 87 – 5 55 Fax: +49 (0) 571/8 87 – 85 55 E-Mail: [email protected] Every conceivable measure has been taken to ensure the correctness and com- pleteness of this documentation. However, as errors can never be fully ex- cluded we would appreciate any information or ideas at any time. E-Mail: [email protected] We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally trademark or patent protected.

• iii WAGO-I/O-SYSTEM 750 CANopen TABLE OF CONTENTS 1 Important Notes ..........................................................................................7 1.1 Legal Principles........................................................................................7 1.1.1 Copyright.............................................................................................7 1.1.2 Personnel Qualification .......................................................................7 1.1.3 Conforming Use of Series 750 ............................................................8 1.1.4 Technical Condition of the Devices ....................................................8 1.2 Standards and Regulations for Operating the 750 Series.........................8 1.3 Symbols....................................................................................................9 1.4 Safety Information..................................................................................10 1.5 Font Conventions ...................................................................................11 1.6 Number Notation....................................................................................11 2 The WAGO-I/O-SYSTEM 750................................................................12 2.1 System Description.................................................................................12 2.2 Technical Data........................................................................................13 2.3 Manufacturing Number ..........................................................................19 2.4 Component Update.................................................................................20 2.5 Storage, Assembly and Transport ..........................................................20 2.6 Mechanical 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 Removal of the Components .......................................24 2.6.6 Assembly Sequence...........................................................................25 2.6.7 Internal Bus/Data Contacts................................................................26 2.6.8 Power Contacts..................................................................................27 2.6.9 Wire connection.................................................................................28 2.7 Power Supply .........................................................................................29 2.7.1 Isolation .............................................................................................29 2.7.2 System Supply ...................................................................................30 2.7.2.1 Connection....................................................................................30 2.7.2.2 Alignment .....................................................................................31 2.7.3 Field Supply.......................................................................................33 2.7.3.1 Connection....................................................................................33 2.7.3.2 Fusing............................................................................................34 2.7.4 Supplementary power supply regulations..........................................37 2.7.5 Supply example .................................................................................38 2.7.6 Power Supply Unit.............................................................................39 2.8 Grounding...............................................................................................40 2.8.1 Grounding the DIN Rail ....................................................................40 2.8.1.1 Framework Assembly ...................................................................40 2.8.1.2 Insulated Assembly.......................................................................40 2.8.2 Grounding Function...........................................................................41 2.8.3 Grounding Protection ........................................................................42

WAGO-I/O-SYSTEM 750 CANopen 2.9 Shielding (Screening).............................................................................43 2.9.1 General...............................................................................................43 2.9.2 Bus Conductors..................................................................................43 2.9.3 Signal Conductors..............................................................................43 2.9.4 WAGO Shield (Screen) Connecting System.....................................44 2.10 Assembly Guidelines/Standards.............................................................44 2.11 Scope ......................................................................................................12 2.12 Abbreviation...........................................................................................45 3 Fieldbus Coupler.......................................................................................46 3.1 Fieldbus Coupler 750-337, 750-338......................................................46 3.1.1 Description.........................................................................................46 3.1.2 Hardware............................................................................................47 3.1.2.1 View..............................................................................................47 3.1.2.2 Variations......................................................................................48 3.1.2.3 Device supply................................................................................48 3.1.2.4 Fieldbus Connection .....................................................................49 3.1.2.5 Display Elements ..........................................................................50 3.1.2.6 Configuration Interface.................................................................51 3.1.2.7 Hardware Address (Module ID) ...................................................51 3.1.2.8 Setting the Baud Rate....................................................................52 3.1.3 Operating System...............................................................................53 3.1.4 Process Image....................................................................................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 CANopen Fieldbus Node .............................................59 3.1.6.1 Connecting the PC and Fieldbus Node .........................................59 3.1.6.2 Checking and Setting the Baud Rate ............................................59 3.1.6.3 Setting the Module ID...................................................................60 3.1.6.4 Changing to the OPERATIONAL Status .....................................61 3.1.6.5 Switching on the analog Input Data..............................................61 3.1.6.6 Application specific Mapping.......................................................62 3.1.7 LED Display......................................................................................65 3.1.7.1 Fieldbus Status..............................................................................66 3.1.7.2 Node Status – Blink Code of the 'I/O' LED..................................67 3.1.7.3 Supply Voltage Status...................................................................72 3.1.8 Technical Data...................................................................................74 4 CANopen....................................................................................................76 4.1 Description .............................................................................................76 4.2 Network Architecture.............................................................................77 4.2.1 Transmission Media...........................................................................77 4.2.1.1 Type of Cable................................................................................77 4.2.1.2 Maximum Bus Length ..................................................................77 4.2.1.3 Required Conductor Cross Section...............................................78 4.2.2 Cabling...............................................................................................78

• v WAGO-I/O-SYSTEM 750 CANopen 4.2.3 Network Topology.............................................................................81 4.2.4 Interface Modules..............................................................................82 4.2.5 Configuration Software .....................................................................82 4.3 Network Communication .......................................................................82 4.3.1 Communication Objects ....................................................................83 4.3.1.1 Process Data Object - PDO...........................................................83 4.3.1.2 Service Data Object - SDO...........................................................84 4.3.1.3 Synchronization Object - SYNC...................................................93 4.3.1.4 Emergency Object (EMCY) .........................................................94 4.3.2 Communication states of a CANopen fieldbus coupler/controller....95 4.3.2.1 CANopen state diagram................................................................95 4.3.2.2 INITIALIZATION........................................................................95 4.3.2.3 PRE-OPERATIONAL..................................................................96 4.3.2.4 OPERATIONAL...........................................................................96 4.3.2.5 STOPPED .....................................................................................96 4.3.3 Network Management Objects ..........................................................97 4.3.3.1 Module Control Protocols.............................................................97 4.3.3.2 Error Control Protocols.................................................................98 4.3.3.3 Node Guarding Protocol ...............................................................99 4.3.3.4 Heartbeat 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 Device Profile Area – DS 401 .....................................129 4.3.5 PDO Transmission...........................................................................137 4.3.5.1 Mapping......................................................................................137 4.3.5.2 Transmit PDO1 ...........................................................................138 4.3.5.3 Receive PDO1.............................................................................139 4.3.5.4 Transmit PDO2 ...........................................................................140 4.3.5.5 Receive PDO2.............................................................................141 4.3.6 SYNC Monitoring ...........................................................................142 4.3.7 Node Guarding ................................................................................142 4.3.8 Heartbeat Monitoring ......................................................................144 4.3.9 Error Message (Emergency)............................................................144 4.3.9.1 Diagnostic Message of I/O Modules ..........................................146 5 I/O Modules .............................................................................................148 5.1 Overview ..............................................................................................148 5.1.1 Digital Input Modules......................................................................148 5.1.2 Digital Output Modules...................................................................150 5.1.3 Analog Intput Modules....................................................................151 5.1.4 Analog Output Modules ..................................................................152 5.1.5 Special Modules ..............................................................................153 5.1.6 System Modules ..............................................................................154 5.2 Process Data Architecture for CANopen .............................................155 5.2.1 Digital Input Modules......................................................................155 5.2.2 Digital Output Modules...................................................................157 5.2.3 Analog Input Modules.....................................................................161

WAGO-I/O-SYSTEM 750 CANopen 5.2.4 Analog Output Modules ..................................................................162 5.2.5 Specialty Modules ...........................................................................163 5.2.6 System Modules...............................................................................179 6 Use in Hazardous Environments ...........................................................180 6.1 Foreword ..............................................................................................180 6.2 Protective measures..............................................................................180 6.3 Classification meeting CENELEC 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 NEC 500...................................................184 6.4.1 Divisions..........................................................................................184 6.4.2 Explosion protection groups............................................................184 6.4.3 Temperature classes.........................................................................185 6.5 Identification ........................................................................................186 6.5.1 For Europe .......................................................................................186 6.5.2 For America.....................................................................................187 6.6 Installation regulations .........................................................................188 7 Glossary....................................................................................................190 8 Literature list...........................................................................................190 9 Index.........................................................................................................191

This section provides only a summary of the most important safety require- ments and notes which will be mentioned in the individual sections. To protect your health and prevent damage to the devices, it is essential to read and care- fully follow the safety guidelines. 1.1 Legal Principles 1.1.1 Copyright This manual including all figures and illustrations contained therein is subject to copyright. Any use of this manual which infringes the copyright provisions stipulated herein, is not permitted. Reproduction, translation and electronic and phototechnical archiving and amendments require the written consent of WAGO Kontakttechnik GmbH & Co. KG, Minden. Non-observance will en- tail the right of claims for damages. WAGO Kontakttechnik GmbH & Co. KG reserves the right of changes serv- ing technical 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 without any notes concerning patent rights. Thus, the existence of such rights must not be excluded. 1.1.2 Personnel Qualification The use of the product described in this manual requires special qualifications, as shown in the following table: Activity Electrical specialist Instructed person- nel*) Specialists**) having qualifications in PLC programming Assembly X X Commissioning X X Programming X Maintenance X X Troubleshooting X Disassembly X X *) Instructed persons have been trained by qualified personnel or electrical specialists. **) A specialist is someone who, through technical training, knowledge and experience, demonstrates the ability to meet the relevant specifications and identify potential dangers in the mentioned field of activity. All personnel must be familiar with the applicable standards. WAGO Kontakttechnik GmbH & Co. KG declines any liability resulting from

WAGO-I/O-SYSTEM 750 CANopen improper action and damage to WAGO products and third party products due to non-observance of the information contained in this manual. 1.1.3 Conforming Use of Series 750 The couplers and controllers of the modular I/O System 750 receive digital and analog signals from the I/O modules and sensors and transmit them to the actuators or higher level control systems. Using the WAGO controllers, the signals can also be (pre-)processed. The device is designed for IP20 protection class. It is protected against finger touch and solid impurities up to 12.5mm diameter, but not against water pene- tration. Unless otherwise specified, the device must not be operated in wet and dusty environments. 1.1.4 Technical Condition of the Devices For each individual application, the components are supplied from the factory with a dedicated hardware and software configuration. Changes in hardware, software and firmware are only admitted within the framework of the possi- bilities documented in the manuals. All changes to the 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 modified and/or new hardware or software configuration directly to WAGO Kontakttechnik GmbH & Co. KG. 1.2 Standards and Regulations for Operating the 750 Series Please observe the standards and regulations that are relevant to your installa- tion: • The data and power lines must be connected and installed in compliance with the standards to avoid failures on your installation and eliminate any danger to personnel. • For installation, startup, maintenance and repair, please observe the acci- dent prevention regulations of your machine (e.g. BGV A 3, "Electrical In- stallations and Equipment"). • Emergency stop functions and equipment must not be made ineffective. See relevant standards (e.g. DIN EN 418). • Your installation must be equipped in accordance to the EMC guidelines so that electromagnetic interferences can be eliminated. • Operating 750 Series components 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 in- formation in the section on "WAGO-I/O-SYSTEM 750" Æ "System De- scription" Æ "Technical Data".

ing to DIN EN 61340-5-1/-3. When handling the modules, ensure that the environment (persons, workplace and packing) is well grounded. • The relevant valid and applicable standards and guidelines concerning the installation of switch cabinets are to be observed. 1.3 Symbols Danger Always observe this information 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 operation. ESD (Electrostatic Discharge) Warning of damage to the components through electrostatic discharge. Ob- serve the precautionary measure for handling components at risk of electro- static discharge. Note Make important notes that are to be complied with so that a trouble-free and efficient device operation can be guaranteed. Additional Information References to additional literature, manuals, data sheets and INTERNET pages.

When connecting the device to your installation and during operation, the fol- lowing safety notes must be observed: Danger The WAGO-I/O-SYSTEM 750 and its components are an open system. It must only be assembled in housings, cabinets or in electrical operation rooms. Access is only permitted via a key or tool to authorized qualified per- sonnel. Danger All power sources to the device must always be switched off before carrying out any installation, repair or maintenance work. Warning Replace defective or damaged device/module (e.g. in the event of deformed contacts), as the functionality of fieldbus station in question can no longer be ensured on a 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 (found in some hand creams). If it cannot be ruled out that these materials appear in the component environment, then the compo- nents must be installed in an enclosure that is resistant against the above men- tioned materials. Clean tools and materials are generally required to operate the device/module. Warning Soiled contacts must be cleaned using oil-free compressed air or with ethyl alcohol and leather cloths. Warning Do not use contact sprays, which could possibly impair the functioning of the contact area. Warning Avoid reverse polarity of data and power lines, as this may damage the de- vices. ESD (Electrostatic Discharge) The devices are equipped with electronic components that may be destroyed by electrostatic discharge when touched.

italic Names of paths and files are marked in italic. e.g.: C:\Programs\WAGO-IO-CHECK italic Menu items are marked in bold italic. e.g.: Save \ A backslash 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 brackets e.g.: Courier The print font for program codes is Courier. e.g.: END_VAR 1.6 Number Notation Number code Example Note Decimal 100 Normal notation Hexadecimal 0x64 C notation Binary '100' '0110.0100' Within ', Nibble separated with dots

System Description WAGO-I/O-SYSTEM 750 CANopen 2 The WAGO-I/O-SYSTEM 750 2.1 System Description The WAGO-I/O-SYSTEM 750 is a modular, fieldbus independent I/O system. It is comprised of a fieldbus coupler/controller (1) and connected fieldbus modules (2) for any type of signal. Together, these make up the fieldbus node. The end module (3) completes the node. Fig. 2-1: Fieldbus node g0xxx00x Couplers/controllers for fieldbus systems such as PROFIBUS, INTERBUS, ETHERNET TCP/IP, CAN (CANopen, DeviceNet, CAL), MODBUS, LON and others are available. The coupler/controller contains the fieldbus interface, electronics and a power supply terminal. The fieldbus interface forms the physical interface to the rele- vant 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 communicates via the relevant fieldbus. The program- mable fieldbus controller (PFC) enables the implementation of additional PLC functions. Programming is done with the WAGO-I/O-PRO 32 in accordance with IEC 61131-3. Bus modules for diverse digital and analog I/O functions as well as special functions can be connected to the coupler/controller. The communication be- tween the coupler/controller and the bus modules is carried out via an internal bus. The WAGO-I/O-SYSTEM 750 has a clear port level with LEDs for status in- dication, insertable mini WSB markers and pullout group marker carriers. The 3-wire technology supplemented by a ground wire connection allows for di- rect sensor/actuator wiring.

Technical Data WAGO-I/O-SYSTEM 750 CANopen 2.2 Technical Data Mechanic Material Polycarbonate, Polyamide 6.6 Dimensions W x H* x L * from upper edge of DIN 35 rail - Coupler/Controller (Standard) - Coupler/Controller (ECO) - Coupler/Controller (FireWire) - I/O module, single - I/O module, double - I/O module, fourfold - 51 mm x 65 mm x 100 mm - 50 mm x 65 mm x 100 mm - 62 mm x 65 mm x 100 mm - 12 mm x 64 mm x 100 mm - 24 mm x 64 mm x 100 mm - 48 mm x 64 mm x 100 mm Installation on DIN 35 with interlock modular by double featherkey-dovetail Mounting position any position Marking marking label type 247 and 248 paper marking label 8 x 47 mm Connection Connection type CAGE CLAMP® Wire range 0.08 mm² ... 2.5 mm², 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 via power contactsmax 10 A Voltage drop at Imax < 1 V/64 modules Data contacts slide contact, hard gold plated 1.5 µm, self-cleaning Climatic environmental conditions Operating temperature 0 °C ... 55 °C, -20 °C … +60 °C for components with extended temperature range (750-xxx/025-xxx) Storage temperature -20 °C ... +85 °C Relative humidity 5 % to 95 % without condensation Resistance to harmful substances acc. to IEC 60068-2-42 and IEC 60068-2-43 Maximum pollutant concentration at relative humidity < 75% SO2 ≤ 25 ppm H2S ≤ 10 ppm Special conditions Ensure that additional measures for components are taken, which are used in an environment involving: – dust, caustic vapors or gasses – ionization radiation.

Technical Data WAGO-I/O-SYSTEM 750 CANopen Safe electrical isolation Air and creepage distance acc. to IEC 60664-1 Degree of pollution acc. To IEC 61131-2 2 Degree of protection Degree of protection IP 20 Electromagnetic compatibility Immunity to interference for industrial areas acc. to EN 61000-6-2 (2001) Test specification Test values Strength class Evaluation criteria EN 61000-4-2 ESD 4 kV/8 kV (contact/air) 2/3 B EN 61000-4-3 electromagnetic fields 10 V/m 80 MHz ... 1 GHz 3 A EN 61000-4-4 burst 1 kV/2 kV (data/supply) 2/3 B -/- (line/line) Data: 1 kV (line/earth) 2 B 0.5 kV (line/line) 1 DC sup- ply: 0.5 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 61000-6-4 (2001) Test specification Limit values/[QP]*) Frequency range Distance 79 dB (µV) 150 kHz ... 500 kHz EN 55011 (AC supply, conducted) 73 dB (µV) 500 kHz ... 30 MHz 40 dB (µV/m) 30 MHz ... 230 MHz 10 m EN 55011 (radiated) 47 dB (µV/m) 230 MHz ... 1 GHz 10 m Emission of interference for residential areas acc. to EN 61000-6-3 (2001) Test specification Limit values/[QP]*) Frequency range Distance 66 ... 56 dB (µV) 150 kHz ... 500 kHz 56 dB (µV) 500 kHz ... 5 MHz EN 55022 (AC supply, conducted) 60 dB (µV) 5 MHz ... 30 MHz 40 ... 30 dB (µA) 150 kHz ... 500 kHz EN 55022 (DC supply/data, conducted) 30 dB (µA) 500 kHz ... 30 MHz 30 dB (µV/m) 30 MHz ... 230 MHz 10 m EN 55022 (radiated) 37 dB (µV/m) 230 MHz ... 1 GHz 10 m

Technical Data WAGO-I/O-SYSTEM 750 CANopen Mechanical strength acc. to IEC 61131-2 Test specification Frequency range Limit value 5 Hz ≤ f < 9 Hz 1.75 mm amplitude (permanent) 3.5 mm amplitude (short term) 9 Hz ≤ f < 150 Hz 0.5 g (permanent) 1 g (short term) IEC 60068-2-6 vibration Note on vibration test: a) Frequency 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 negative direc- tion for each of the three mutually perpendicular axes of the test specimen IEC 60068-2-32 free fall 1 m (module in original packing) *) QP: Quasi Peak Note: If the technical data of components differ from the values described here, the technical data shown in the manuals of the respective components shall be valid.

Technical Data WAGO-I/O-SYSTEM 750 CANopen For Products of the WAGO-I/O-SYSTEM 750 with ship specific approvals, supplementary guidelines are valid: Electromagnetic compatibility Immunity to interference acc. to Germanischer Lloyd (2003) Test specification Test values Strength class Evaluation criteria IEC 61000-4-2 ESD 6 kV/8 kV (contact/air) 3/3 B IEC 61000-4-3 electromagnetic fields 10 V/m 80 MHz ... 2 GHz 3 A IEC 61000-4-4 burst 1 kV/2 kV (data/supply) 2/3 A 0.5 kV (line/line) 1 IEC 61000-4-5 surge AC/DC Supply: 1 kV (line/earth) 2 A IEC 61000-4-6 RF disturances 10 V/m 80 % AM (0.15 ... 80 MHz) 3 A Type test AF disturbances (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 (µV) 10 kHz ... 150 kHz 60 ... 50 dB (µV) 150 kHz ... 350 kHz Type test (EMC1, conducted) allows for ship bridge control applications 50 dB (µV) 350 kHz ... 30 MHz 80 ... 52 dB (µV/m) 150 kHz ... 300 kHz 3 m 52 ... 34 dB (µV/m) 300 kHz ... 30 MHz 3 m Type test (EMC1, radiated) allows for ship bridge control applications 54 dB (µV/m) 30 MHz ... 2 GHz 3 m außer für: 24 dB (µV/m) 156 MHz ... 165 MHz 3 m Mechanical strength acc. to Germanischer Lloyd (2003) Test specification Frequency range Limit value 2 Hz ≤ f < 25 Hz ± 1.6 mm amplitude (permanent) 25 Hz ≤ f < 100 Hz 4 g (permanent) IEC 60068-2-6 vibration (category A – D) Note on vibration test: a) Frequency change: max. 1 octave/minute b) Vibration direction: 3 axes

Technical Data WAGO-I/O-SYSTEM 750 CANopen Range of application Required specification emission of interference Required specification immunity to interference Industrial areas EN 61000-6-4 (2001) EN 61000-6-2 (2001) Residential areas EN 61000-6-3 (2001)*) EN 61000-6-1 (2001) *) The system meets the requirements on emission of interference in residential areas with the fieldbus coupler/controller for: ETHERNET LonWorks CANopen DeviceNet MODBUS 750-342/-841/-842/-860 750-319/-819 750-337/-837 750-306/-806 750-312/-314/ -315/ -316 750-812/-814/ -815/ -816 With a special permit, the system can also be implemented with other fieldbus cou- plers/controllers in residential 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 Telecommunications and its branch offices issues the permit. It is possible to use other field bus couplers/controllers under certain boundary condi- tions. Please contact WAGO Kontakttechnik GmbH & Co. KG. Maximum power dissipation of the components Bus modules 0.8 W / bus terminal (total power dissipation, sys- tem/field) Fieldbus coupler/controller 2.0 W / coupler/controller Warning The power dissipation of all installed components must not exceed the maxi- mum conductible power of the housing (cabinet). When dimensioning the housing, care is to be taken that even under high ex- ternal temperatures, the temperature inside the housing does not exceed the permissible ambient temperature of 55 °C.

Technical Data WAGO-I/O-SYSTEM 750 CANopen Dimensions 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 dimensions, please refer to the technical data of the respective coupler/controller.

Manufacturing Number WAGO-I/O-SYSTEM 750 CANopen 2.3 Manufacturing Number The manufacturing number indicates the delivery status directly after produc- tion. This number is part of the lateral marking on the component. In addition, starting from calender week 43/2000 the manufacturing number is also printed on the cover of the configuration and programming interface of the fieldbus coupler or controller. 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 02 ATEX132273 X EEx nA II T4 24V DC AWG 28-14 55°C max ambient LISTED 22ZA AND 22XM 72072 0103000203-B000000 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 02 ATEX132273 X EEx nA II T4 24V DC AWG 28-14 55°C max ambient LISTED 22ZA AND 22XM 72072 0103000203-B060606 1 0 3 0 0 0 2 0 0 3 DS NO SW HW GL FWL Power Supply Field 24 V + - - B 0 6 0 6 0 6 PROFIBUS WAGO - I/O - SYSTEM 750-333 01030002 03-B 060606 72072 Manufacturing Number Calendar week Year Software version Hardware version Firmware Loader version Internal Number Fig. 2-3: Example: Manufacturing Number of a PROFIBUS fieldbus coupler 750-333 g01xx15e The manufacturing number consists of the production week and year, the soft- ware version (if available), the hardware version of the component, the firm- ware loader (if available) and further internal information for WAGO Kontakttechnik GmbH.

Component Update WAGO-I/O-SYSTEM 750 CANopen 2.4 Component Update For the case of an Update of one component, the lateral marking on each com- ponent contains a prepared matrix. This matrix makes columns available for altogether three updates to the entry of the current update data, like production order number (NO; starting from calendar week 13/2004), update date (DS), software version (SW), hardware version (HW) and the firmware loader version (FWL, if available). Update Matrix Current Version data for: 1. Update 2. Update 3. Update Production Order Number NO Å Only starting from calendar week 13/2004 Datestamp DS Software index SW Hardware index HW Firmware loader index FWL Å Only for coupler/ con- troller If the update of a component took place, the current version data are registered into the columns of the matrix. Additionally with the update of a fieldbus coupler or controller also the cover of the configuration and programming interface of the coupler or controller is printed on with the current manufacturing and production order number. The original manufacturing data on the housing of the component remain thereby. 2.5 Storage, Assembly and Transport Wherever possible, the components are to be stored in their original packag- ing. Likewise, the original packaging provides optimal protection during transport. When assembling or repacking the components, the contacts must not be soiled or damaged. The components must be stored and transported in appro- priate containers/packaging. Thereby, the ESD information is to be regarded. Statically shielded transport bags with metal coatings are to be used for the transport of open components for which soiling with amine, amide and sili- cone has been ruled out, e.g. 3M 1900E.

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6 Mechanical Setup 2.6.1 Installation Position Along with horizontal and vertical installation, all other installation positions are allowed. Attention In the case of vertical assembly, an end stop has to be mounted as an addi- tional safeguard against slipping. WAGO item 249-116 End stop for DIN 35 rail, 6 mm wide WAGO item 249-117 End stop for DIN 35 rail, 10 mm wide 2.6.2 Total Expansion The length of the module assembly (including one end module of 12mm width) that can be connected 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 of 24mm width can be connected to one coupler/controller. Exception: The number of connected I/O modules also depends on which type of cou- pler/controller is used. For example, the maximum number of I/O modules that can be connected to a Profibus coupler/controller is 63 without end mod- ule.The maximum total expansion of a node is calculated as follows: Warning The maximum total length of a node without coupler/controller must not ex- ceed 780mm. Furthermore, restrictions made on certain types of cou- plers/controllers must be observed (e.g. for Profibus).

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.3 Assembly onto Carrier Rail 2.6.3.1 Carrier rail properties All system components can be snapped directly onto a carrier rail in accor- dance with the European standard EN 50022 (DIN 35). Warning WAGO supplies standardized carrier rails that are optimal for use with the I/O system. If other carrier rails are used, then a technical inspection and ap- proval of the rail by WAGO Kontakttechnik GmbH should take place. Carrier rails have different mechanical and electrical properties. For the opti- mal system setup on a carrier rail, certain guidelines must be observed: • The material must be non-corrosive. • Most components have a contact to the carrier rail to ground electro- magnetic disturbances. 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 solution of 0.3% at 20°C) . • The carrier rail must optimally support the EMC measures integrated into the system and the shielding of the bus module connections. • A sufficiently stable carrier rail should be selected and, if necessary, sev- eral mounting points (every 20 cm) should be used in order to prevent bending and twisting (torsion). • The geometry of the carrier rail must not be altered in order to secure the safe hold of the components. In particular, when shortening or mounting the carrier rail, it must not be crushed or bent. • The base of the I/O components extends into the profile of the carrier rail. For carrier rails with a height of 7.5 mm, mounting points are to be riveted under the node in the carrier rail (slotted head captive screws or blind riv- ets).

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.3.2 WAGO DIN Rail WAGO carrier rails meet the electrical and mechanical requirements. Item Number Description 210-113 /-112 35 x 7.5; 1 mm; steel yellow chromated; slotted/unslotted 210-114 /-197 35 x 15; 1.5 mm; steel yellow chromated; slotted/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 components, cable conduits, casing and frame sides must be maintained for the complete field bus node. Fig. 2-4: Spacing g01xx13x The spacing creates room for heat transfer, installation or wiring. The spacing to cable conduits also prevents conducted electromagnetic interferences from influencing the operation.

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.5 Plugging and Removal of the Components Warning Before work is done on the components, the voltage supply must be turned off. In order to safeguard the coupler/controller from jamming, it should be fixed onto the carrier rail with the locking disc To do so, push on the upper groove of the locking disc 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: Coupler/Controller and unlocking lug g01xx12e It is also possible to release an individual I/O module from the unit by pulling an unlocking lug. Fig. 2-6: removing bus terminal p0xxx01x Danger Ensure that an interruption of the PE will not result in a condition which could endanger a person or equipment! For planning the ring feeding of the ground wire, please see chapter 2.6.3.

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.6 Assembly Sequence All system components can be snapped directly on a carrier rail in accordance with the European standard EN 50022 (DIN 35). The reliable positioning and connection is made using a tongue and groove system. Due to the automatic locking, the individual components are securely seated on the rail after installing. Starting with the coupler/controller, the bus modules are assembled adjacent to each other 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 contacts) cannot be linked to bus modules with fewer power contacts. Attention Always link the bus modules with the coupler/controller, and always plug from above. Warning Never plug bus modules from the direction of the end terminal. A ground wire power contact, which is inserted into a terminal without contacts, e.g. a 4-channel digital input module, has a decreased air and creepage distance to the neighboring contact in the example DI4. Always terminate the fieldbus node with an end module (750-600).

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.7 Internal Bus/Data Contacts Communication between the coupler/controller and the bus modules as well as the system supply of the bus modules is carried out via the internal bus. It is comprised of 6 data contacts, 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! ESD (Electrostatic Discharge) The modules are equipped with electronic components that may be destroyed by electrostatic discharge. When handling the modules, ensure that the envi- ronment (persons, workplace and packing) is well grounded. Avoid touching conductive components, e.g. gold contacts.

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.8 Power Contacts Self-cleaning power contacts , are situated on the side of the components which further conduct the supply voltage for the field side. These contacts come as touchproof spring contacts on the right side of the coupler/controller and the bus module. As fitting counterparts the module has male contacts on 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 jumper contacts. The design of some modules does not allow them to be physically assembled in rows, as the grooves for the male contacts are closed at the top. Fig. 2-8: Example for the arrangement of power contacts g0xxx05e Recommendation With the WAGO ProServe® Software smartDESIGNER, the assembly of a fieldbus node can be configured. The configuration can be tested via the inte- grated accuracy check.

Mechanical Setup WAGO-I/O-SYSTEM 750 CANopen 2.6.9 Wire connection All components have CAGE CLAMP® connections. The WAGO CAGE CLAMP® connection is appropriate for solid, stranded and fine–stranded conductors. Each clamping unit accommodates one conduc- tor. Fig. 2-9: CAGE CLAMP® Connection g0xxx08x The operating tool is inserted into the opening above the connection. This opens the CAGE CLAMP®. Subsequently the conductor can be inserted into 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, then they should be made away from the connection point using WAGO Terminal Blocks. The terminal blocks may be jumpered together and a single wire brought back to the I/O module connection point. Attention If it is unavoidable to jointly connect 2 conductors, then a ferrule must be used to join the wires together. Ferrule: Length 8 mm Nominal cross sectionmax. 1 mm2 for 2 conductors with 0.5 mm2 each WAGO Product 216-103 or products with comparable properties

Power Supply WAGO-I/O-SYSTEM 750 CANopen 2.7 Power Supply 2.7.1 Isolation Within the fieldbus node, there are three electrically isolated potentials. • Operational voltage for the fieldbus interface. • Electronics of the couplers/controllers and the bus modules (internal bus). • All bus modules have an electrical isolation between the electronics (inter- nal bus, logic) and the field electronics. Some digital and analog input modules have each channel electrically isolated, please 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, it is recommended that a ground wire be connected at the beginning and end of a potential group. (ring format, please see chapter "2.8.3"). Thus, if a bus mod- ule comes loose from a composite during servicing, then the protective con- ductor connection is still guaranteed for all connected field devices. When using a joint power supply unit for the 24 V system supply and the 24 V field supply, the electrical isolation between the internal bus and the field level is eliminated for the potential group.

Power Supply WAGO-I/O-SYSTEM 750 CANopen 2.7.2 System Supply 2.7.2.1 Connection The WAGO-I/O-SYSTEM 750 requires a 24 V direct current system supply (-15% or +20 %). The power supply is provided via the coupler/controller and, if necessary, in addition via the internal system 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 Supply g0xxx02e The direct current supplies all internal system components, e.g. cou- pler/controller electronics, fieldbus interface and bus modules via the internal bus (5 V system voltage). The 5 V system voltage is electrically connected to the 24 V system supply. Fig. 2-12: System Voltage g0xxx06e

Power Supply WAGO-I/O-SYSTEM 750 CANopen Attention Resetting the system by switching on and off the system supply, must take place simultaneously for all supply modules (coupler/controller and 750-613). 2.7.2.2 Alignment Recommendation A stable network supply cannot be taken for granted always and everywhere. Therefore, regulated power supply units should be used in order to guarantee the quality of the supply voltage. The supply capacity of the coupler/controller or the internal system supply module (750-613) can be taken from the technical data of the components. Internal current consumption*) Current consumption via system voltage: 5 V for electronics of the bus modules and cou- pler/controller Residual current for bus termi- nals*) Available current for the bus modules. Provided by the bus power supply 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 current for bus modules : 1650 mA at 5V sum I(5V) total : 2000 mA at 5V The internal current consumption is indicated in the technical data for each bus terminal. In order to determine the overall requirement, add together the values of all bus modules in the node. Attention If the sum of the internal current consumption exceeds the residual current for bus modules, then an internal system supply module (750-613) must be placed before the module where the permissible residual current was ex- ceeded. Example: A node with a PROFIBUS Coupler 750-333 consists of 20 relay mod- ules (750-517) and 10 digital input modules (750-405). Current consumption: 20* 90 mA = 1800 mA 10* 2 mA = 20 mA Sum 1820 mA The coupler can provide 1650 mA for the bus modules. Consequently, an internal system supply module (750-613), e.g. in the middle of the node, should be added.

Power Supply WAGO-I/O-SYSTEM 750 CANopen Recommendation With the WAGO ProServe® Software smartDESIGNER, the assembly of a fieldbus node can be configured. The configuration can be tested via the inte- grated accuracy check. The maximum input current of the 24 V system supply is 500 mA. The exact electrical consumption (I(24 V)) can be determined with the 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 all the internal current consumption of the connected bus modules Input current I(24 V) = 5 V / 24 V * I(5 V) total / η η = 0.87 (at nominal load) Note If the electrical consumption of the power supply point for the 24 V-system supply exceeds 500 mA, then the cause may be an improperly aligned node or a defect. During the test, all outputs, in particular those of the relay modules, must be active.

Power Supply WAGO-I/O-SYSTEM 750 CANopen 2.7.3 Field Supply 2.7.3.1 Connection Sensors and actuators can be directly connected to the relevant channel of the bus module in 1-/4 conductor connection technology. The bus module supplies power to the sensors and actuators. The input and output drivers of some bus modules require the field side supply voltage. The coupler/controller provides field side power (DC 24V). In this case it is a passive power supply without protection equipment. Power supply modules are available for 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 (Sensor/Actuator) g0xxx03e The supply voltage for the field side is automatically passed to the next mod- ule via the power jumper contacts when assembling the bus modules . The current load of the power contacts must not exceed 10 A on a continual basis. The current load capacity between two connection terminals is identical to the load capacity of the connection wires. By inserting an additional power supply module, the field supply via the power contacts is disrupted. From there a new power supply occurs which may also contain a new voltage potential.

Power Supply WAGO-I/O-SYSTEM 750 CANopen Attention Some bus modules have no or very few power contacts (depending on the I/O function). Due to this, the passing through of the relevant potential is dis- rupted. If a field supply is required for subsequent bus modules, then a power supply module must be used. Note the data sheets of the bus modules. In the case of a node setup with different potentials, 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 works. Thus, the results of wiring errors can be prevented. 2.7.3.2 Fusing Internal fusing of the field supply is possible for various field voltages via an appropriate power supply module. 750-601 24 V DC, Supply/Fuse 750-609 230 V AC, Supply/Fuse 750-615 120 V AC, Supply/Fuse 750-610 24 V DC, Supply/Fuse/Diagnosis 750-611 230 V AC, Supply/Fuse/Diagnosis Fig. 2-14: Supply module with fuse carrier (Example 750-610) g0xxx09x

Power Supply WAGO-I/O-SYSTEM 750 CANopen Warning In the case of power supply modules with fuse holders, only fuses with a maximum dissipation of 1.6 W (IEC 127) must be used. For UL approved systems only use UL approved fuses. In order to insert or change 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) and pull out the holder. Fig. 2-15: Removing the fuse carrier p0xxx05x Lifting the cover to the side opens the fuse carrier. Fig. 2-16: Opening the fuse carrier p0xxx03x Fig. 2-17: Change fuse p0xxx04x After changing the fuse, the fuse carrier is pushed back into its original posi- tion.

Power Supply WAGO-I/O-SYSTEM 750 CANopen Alternatively, 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 pivotable fuse carrier, Series 281 pe61100x Fig. 2-20: Fuse modules, Series 282 pf12400x

Power Supply WAGO-I/O-SYSTEM 750 CANopen 2.7.4 Supplementary power supply regulations The WAGO-I/O-SYSTEM 750 can also be used in shipbuilding or offshore and onshore areas of work (e.g. working platforms, loading plants). This is demonstrated by complying with the standards of influential classification companies such as Germanischer Lloyd and Lloyds Register. Filter modules for 24-volt supply are required 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 supply (750-613) 750-624 Supply filter Filter module for the 24 V- field supply (750-602, 750-601, 750-610) Therefore, the following power supply concept must be absolutely complied with. Fig. 2-21: Power supply concept g01xx11e Note Another potential power terminal 750-601/602/610 must only be used behind the filter terminal 750-626 if the protective earth conductor is needed on the lower power contact or if a fuse protection is required.

Power Supply WAGO-I/O-SYSTEM 750 CANopen 2.7.5 Supply example Note The system supply and the field supply should be separated in order to ensure bus operation in the event of a short-circuit on the actuator side. 750-630 750-400 750-410 750-401 750-613 750-512 750-512 750-616 750-513 750-610 750-552 750-600 750-612 750-616 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 Field Supply 1) Separation module recommended 2) Ring-feeding recommended a) Power Supply on coupler / controller via external Supply Module b) Internal System Supply Module c) Supply Module passive d) iagnostics Supply Module with fuse carrier/ d Fig. 2-22: Supply example g0xxx04e

Power Supply WAGO-I/O-SYSTEM 750 CANopen 2.7.6 Power Supply Unit The WAGO-I/O-SYSTEM 750 requires a 24 V direct current system supply with a maximum deviation of -15% or +20 %. Recommendation A stable network supply cannot be taken for granted always and everywhere. Therefore, regulated power supply units should be used in order to guarantee the quality of the supply voltage. A buffer (200 µF per 1 A current load) should be provided for brief voltage dips. The I/O system buffers for approx 1 ms. The electrical requirement for the field supply is to be determined individually for each power supply point. Thereby all loads through the field devices and bus 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 field supply should be isolated from the power supplies in order to ensure bus operation in the event of short circuits on the actuator side. WAGO products Article No. Description 787-903 Primary switched - mode, DC 24 V, 5 A wide input voltage range AC 85-264 V PFC (Power Factor Correction) 787-904 Primary switched - mode, DC 24 V, 10 A wide input voltage range AC 85-264 V PFC (Power Factor Correction) 787-912 Primary switched - mode, DC 24 V, 2 A wide input voltage range AC 85-264 V PFC (Power Factor Correction) 288-809 288-810 288-812 288-813 Rail-mounted modules with universal mounting carrier AC 115 V / DC 24 V; 0,5 A AC 230 V / DC 24 V; 0,5 A AC 230 V / DC 24 V; 2 A AC 115 V / DC 24 V; 2 A

Grounding WAGO-I/O-SYSTEM 750 CANopen 2.8 Grounding 2.8.1 Grounding the DIN Rail 2.8.1.1 Framework Assembly When setting up the framework, the carrier rail must be screwed together with the electrically conducting cabinet or housing frame. The framework or the housing must be grounded. The electronic connection is established via the screw. Thus, the carrier rail is grounded. Attention Care must be taken to ensure the flawless electrical connection between the carrier rail and the frame or housing in order to guarantee sufficient ground- ing. 2.8.1.2 Insulated Assembly 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 via an electrical conductor. The connected grounding conductor should have a cross section of at least 4 mm2. Recommendation The optimal insulated setup is a metallic assembly plate with grounding con- nection with an electrical conductive link with the carrier rail. The separate grounding of the carrier rail can be easily set up with the aid of the WAGO ground wire terminals. Article No. Description 283-609 Single-conductor ground (earth) terminal block make an automatic contact to the carrier rail; conductor cross section: 0.2 -16 mm2 Note: Also order the end and intermediate plate (283-320)

Grounding WAGO-I/O-SYSTEM 750 CANopen 2.8.2 Grounding Function The grounding function increases the resistance against disturbances from electro-magnetic interferences. Some 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 ensure the direct electrical connection between the carrier rail contact and the carrier rail. The carrier rail must be grounded. For information on carrier rail properties, please see chapter 2.6.3.2.

Grounding WAGO-I/O-SYSTEM 750 CANopen 2.8.3 Grounding Protection For the field side, the ground wire is connected to the lowest connection ter- minals of the power supply module. The ground connection is then connected to the next module via the Power Jumper Contact (PJC). If the bus module has the lower power jumper contact, then the ground wire connection of the field devices can be directly connected to the lower connection terminals of the bus module. Attention 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. The ring feeding of the grounding potential will increase the system safety. When one bus module is removed from the group, the grounding connection will remain intact. The ring feeding method has the grounding conductor connected to the begin- ning and end of each potential group. Fig. 2-24: Ring-feeding g0xxx07e Attention The regulations relating to the place of assembly as well as the national regu- lations for maintenance and inspection of the grounding protection must be observed.

Shielding (Screening) WAGO-I/O-SYSTEM 750 CANopen 2.9 Shielding (Screening) 2.9.1 General The shielding of the data and signal conductors reduces electromagnetic inter- ferences thereby increasing the signal quality. Measurement errors, data trans- mission errors and even disturbances caused by overvoltage can be avoided. Attention Constant shielding is absolutely required in order to ensure the technical specifications in terms of the measurement accuracy. The data and signal conductors should be separated from all high-voltage cables. The cable shield should be potential. With this, 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 The shielding of the bus conductor is described in the relevant assembly guidelines and standards of the bus system. 2.9.3 Signal Conductors Bus modules for most analog signals along with many of the interface bus modules include a connection for the shield. Note For better shield performance, the shield should have previously been placed over a large area. The WAGO shield connection system is suggested for such an application. This suggestion is especially applicable when the equipment can have even current or high impulse formed currents running through it (for example through atmospheric end loading).

Assembly Guidelines/Standards WAGO-I/O-SYSTEM 750 CANopen 2.9.4 WAGO Shield (Screen) Connecting System The WAGO Shield Connecting system includes a shield clamping saddle, a collection of rails and a variety of mounting feet. Together 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 (Screen) Connecting System p0xxx11x 2.10 Assembly Guidelines/Standards DIN 60204, Electrical equipping of machines DIN EN 50178 Equipping of high-voltage systems with electronic components (replacement for VDE 0160) EN 60439 Low voltage – switch box combinations

Scope WAGO-I/O-SYSTEM 750 CANopen 2.11 Scope This manual describes the field bus independent WAGO-I/O-SYSTEM 750 with the fieldbus coupler for CANopen. Item No. Component 750-337 Fieldbus Coupler CANopen; 10 kBaud – 1 Mbaud; digital and analog signals; MCS Fieldbus connection 750-338 Fieldbus Coupler CANopen; 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 Communication Object Identifier DI Digital Input DO Digital Output EMCY Emergency Objekt I/O Input/Output ID Identifier, Identification Idx Index M Master NMT Network Management PDO Process Data Object RO Read Only RTR Remote Transmit Request RxPDO Receive PDO RW Read/Write SDO Service Data Object S-Idx Sub-Index TxPDO Transmit PDO

Description WAGO-I/O-SYSTEM 750 CANopen 3 Fieldbus Coupler 3.1 Fieldbus Coupler 750-337, 750-338 3.1.1 Description The fieldbus coupler for CANopen differ in the fieldbus connection. Item Fieldbus Connection 750-337 MCS (Multi connector system) 750-338 D-SUB connection (9-pole) Note In this manual, the diagrams and pictures are shown from the coupler 750-337. The descriptions also apply equally to the coupler 750-338. The fieldbus coupler 750-307 displays the peripheral data of all I/O modules in the WAGO-I/O-SYSTEM 750 on CANopen. The data is transmitted with PDOs and SDOs. In the initialization phase, the bus coupler determines the physical structure of the node and creates a 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 is subdivided into an input and output data area. The process data can be read in via the CANopen bus and further processed in a control system. The process output data is sent via the CANopen bus. The data of the analog modules are mapped into the PDOs according to the order of their position downstream of the bus coupler. The bits of the digital modules are compiled to form bytes and also mapped into PDOs. Should the number of digital I/Os exceed 8 bits, the coupler automatically starts another byte. The entries in the object directory can be mapped to the 32 RxPDOs and 32 TxPDOs as required. The entire input and output data area can be transmitted with the SDOs. “Spacer modules” can be set using the software.

• 47 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.2 Hardware 3.1.2.1 View 24V 0V + + PE PE 01 02 750-337 STOP RUN TX I/O CANopen C D B A RX OVERFLOW 1 2 3 4 5 6 7 8 ON - - Supply 24V 0V 0V Power jumper contacts Status voltage supply -Power jumper contacts (C) -System (A) Supply via power jumper contacts 24V Data contacts Fieldbus connection Series 231 (MCS) Configuration interface DIP switch for 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 well as power jumper contacts for the field supply via I/O module as- semblies. • Fieldbus interface with the bus connection • DIP switch for baud rate and node ID • Display elements (LEDs) for status display of the operation, the bus com- munication, the operating voltages as well as for fault messages and diag- nosis • Configuration Interface • Electronics for communication with the I/O modules (internal bus) and the fieldbus interface

Hardware WAGO-I/O-SYSTEM 750 CANopen 3.1.2.2 Variations Item no. Description 750-337 CANopen coupler with MCS Fieldbus connection 750-338 CANopen coupler with D-SUB Fieldbus connection 3.1.2.3 Device supply The supply is made via terminal bocks with CAGE CLAMP® connection. The 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 INTERFACE ELECTRONICS FIELDBUS INTERFACE Fig. 3.1-2: Device Supply g033701e The integrated internal system supply module generates the necessary voltage to supply the electronics and the connected I/O modules. The fieldbus interface is supplied with electrically isolated voltage from the internal system supply module.

• 49 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.2.4 Fieldbus Connection 750-347 The CAN interface of the Fieldbus coupler 750-337 is designed as an Open Style connection, MCS (Multi Connection System; Series 231; included). 750-348 The Fieldbus coupler 750-338 posseses a 9-pole D-SUB-plug connector for the field bus connection. (Item no: 750-963, not included). The connection point is lowered in such a way that after a connector is in- serted, installation in an 80 mm high switchbox is possible. The electrical isolation between the fieldbus system and the electronics is made via the DC/DC converter and the optocoupler in the fieldbus. The line screen must be connected for both field bus couplers on CAN Shield. For both fieldbus coupler the shield on the CANopen communication cable must be connected to drain. The shield is connected via a 1 MΩ resistor to ground (earth) (rail carrier contact). A connection of low impedance between shield and ground (earth) can only be made externally (for example by a sup- ply terminal block). It is recommended to have a central ground (earth) con- tact for the whole CANbus shield. 3.1.2.4.1 MCS (750-337) Pin Signal Description 5 CAN_V+ Not used 4 CAN_H CAN Signal High 3 Drain Shield Shield connection 2 CAN_L CAN Signal Low CAN_High drain CAN_Low CAN_GND 1 GND Ground Fig. 3.1.2-3: Pin assignment for fieldbus connection of the 750-337, Series 231 (MCS) g012400x 3.1.2.4.2 D-SUB (750-338) Description Signal Pin Pin Signal Description Not used - 1 CAN Signal Low CAN_L 2 6 - Not used Ground GND 3 7 CAN_H CAN Signal High Not used - 4 8 - Not used Shield connection Drain Shield 5 1 3 4 5 6 7 8 9 2 9 CAN_V+ Not used Fig. 3.1.2-4: Pin assignment for fieldbus connection of the 750-338, D-SUB g012231d

Hardware WAGO-I/O-SYSTEM 750 CANopen 3.1.2.5 Display Elements The operating condition of the fieldbus coupler or node is signalled via LED's (Light diodes). 24V 0V 01 02 STOP RUN TX I/O CANopen C D B A RX OVERFLOW C A 24V 0V 01 02 STOP RUN TX I/O C CANopen D B A RX OVERFLOW A B Fig. 3.1-5: Display elements CANopen g033702x LED Color Meaning 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 full. IO red /green / orange The 'I/O'-LED indicates the operation of the node and signals faults encountered. A green Status of the operating voltage system B or C green Status of the operating voltage – power jumper contacts (LED position is manufacturing dependent) More Information The evaluation of the indicated LED signals is detailed described in the chapter 3.1.7 "LED Display".

• 51 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.2.6 Configuration Interface The configuration interface used for the communication with WAGO-I/O- CHECK or for firmware download is located behind the cover flap. Configuration interface open flap Fig. 3-6: Configuration Interface g01xx06e The communication cable (750-920) is connected to the 4 pole header. Warning The communication cable 750-920 must 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 setting the module ID. This module ID is necessary for calculating the COB IDs (i.e. of PDO1...4, 1. Server SDO, etc.). 1 2 3 4 5 ON 6 7 8 1 2 3 4 5 6 7 8 ON Fig. 3-7: Setting of station (node) address g012440x The binary significance of the individual DIP switches increases according to the switch number, i.e. the module ID 1 is set by DIP1 = ON, the module ID 8 by DIP4 = ON, etc. The nodes of the WAGO-I/O-SYSTEM can have module IDs from 1 to 127.

Hardware WAGO-I/O-SYSTEM 750 CANopen 3.1.2.8 Setting the Baud Rate The bus coupler supports 9 different Baud rates. DIP switches are used to set the baud rate. The bus coupler changes to the configuration mode using the set module ID = 0 (all DIP switches off) with subsequent power On. The current set baud rate is displayed in this status (starting from Firmware WT). The baud rate display is shown by the top LED group (STOP, RUN, Tx-, Rx-Overflow), whereby STOP = Switch 1, RUN = Switch 2, Tx-Overflow = Switch 3 and Rx-Overflow = Switch 4. The current set baud rate is displayed by the corresponding LEDs blinking slowly. Now the new baud rate can be set using the DIP switch, by turning the corre- sponding DIP switches to 'ON'. The set configuration is saved by turning DIP8 to 'ON'. Following 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-Overflow LED blink / are lit 250 kB: STOP and RUN LED blink / are lit 1 2 3 4 5 ON 6 7 8 Fig. 3-8: Example: Saving the baud rate 125 kB g012441x In this status no data exchange via CAN is possible. DIP Function 1 Mbit 800 kB 500 kB 250 kB 125 kB 100 kB 50 kB 20 kB 10 kB is displayed by LED 1 (LSB) Baud rate 0 1 0 1 0 1 0 1 0 STOP 2 Baud rate 0 0 1 1 0 0 1 1 0 RUN 3 Baud rate 0 0 0 0 1 1 1 1 0 Tx- Overflow 4 (MSB) Baud rate 0 0 0 0 0 0 0 0 1 Rx- Overflow 5 6 7 8 Accept- ance ´off´ -> ´on´ : Accepting the configuration settings Once the baud rate setting / baud rate check is completed, switch off the oper- ating voltage knowing that only the DIP value will be used to calculate the IDs which has been set during power ON. When switched off, the desired module ID (=1 as delivered) can be set on the DIP. Default baud rate: 125 kB

• 53 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.3 Operating System Following is the configuration of the master activation and the electrical in- stallation of the fieldbus station. After switching on the supply voltage, the coupler performs a self test of all functions of its devices, the I/O module and the fieldbus interface. Following this the I/O modules and the present configuration is determined, whereby an external 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 "Fieldbus start" status and the "I/O" LED lights up green. Stop red “I/O” LED indicates blink code Switching on the supply voltage Test o.k.? No Yes Fieldbus coupler is in operating mode “I/O” LED is shining green Initialization, Determination of the I/O modules and the configuration, “I/O” LED is blinking red Fig. 3-9: Operating system 750-337 g012x20e More Information The evaluation of the indicated LED signals is detailed described in the chapter 3.1.7 "LED Display".

Process Image WAGO-I/O-SYSTEM 750 CANopen 3.1.4 Process Image 3.1.4.1 Structure in principle After powering up, the coupler recognizes all I/O modules plugged into the node which supply or wait for data (data width/bit width > 0). In the nodes analog and digital I/O modules can be mixed. The coupler produces an internal process image from the data width and the type of I/O module as well as the position of the I/O modules in the node. It is divided into an input and an output data area. The data of the digital I/O modules is bit orientated, i.e. the data exchange is made bit for bit. The analog I/O modules are all byte orientated I/O modules, i.e. modules where the data exchange is made byte for byte. These I/O mod- ules include for example the counter modules, I/O modules for angle and path measurement as well as the communication modules. Note For the number of input and output bits or bytes of the individual I/O modules please refer to the corresponding 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 image. In the respective I/O area, first of all analog modules are mapped, then all digital modules, even if the order of the connected analog and digital modules does not comply with this order. The digital channels are grouped, each of these groups having a data width of 1 byte. Should the number of digital I/Os exceed 8 bits, the coupler automatically starts another byte. Note A process image restructuring may result if a node is changed or extended. In this case the process data addresses also change in comparison with earlier ones. In the event of adding a module, take the process data of all previous modules into account. More Information You can find the fieldbus specific process data architecture for all I/O Mod- ules of the WAGO-I/O-SYSTEM 750 and 753 in the chapter „ Process Data Architecture for CANopen“. 3.1.5 Data Exchange With CANopen, the transmission of data, the triggering of events, the signal- ling of error states etc. is made using communication objects. Each communi-

• 55 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen cation object consists of a CAN telegram, which contains maximally 8 byte utilizable data and it is assigned a unique COB-ID (Communication Object Identifier) in the network. Parameters for the communication objects as well as parameters and data of the CANopen subscribers are filled in an object directory(). 3.1.5.1 Communication objects The fieldbus coupler 750-337 and 750-338 support the following communica- tion objects: • 32 Tx-PDOs, for process data exchange of fieldbus node input 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 network synchronisation • Emergency Object (EMCY) • Network Management Objects - Module Control Protocols - Error Control Protocols - Bootup Protocol 3.1.5.2 Communication interfaces For a data exchange, the CANopen fieldbus coupler is equipped with two inter- faces: • the interface to fieldbus (-master) and • the interface to the bus modules. Data exchange takes place between the fieldbus master and the bus modules. Access from the fieldbus side is fieldbus specific. 3.1.5.3 Memory Areas The coupler uses a memory space of 256 words (word 0 ... 255) for the physi- cal input and output data.

Data Exchange WAGO-I/O-SYSTEM 750 CANopen I O 1 2 memory area for input data I/O modules input modules word 255 output modules word 0 word 255 word 0 memory area for output data fieldbus coupler fieldbus Fig. 3.1-10: Memory areas and data exchange for a fieldbus coupler g012433e The coupler process image contains the physical data of the bus modules in a storage area for input data and in a storage area for output data (word 0 ... 255 each). 1 The input module data can be read from the fieldbus side. 2 In the same manner, writing 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 CANopen fieldbus master uses the 16 bit indexes and 8 bit sub-indexes of the object directory in order to ad- dress the data via the PDOs or SDOs and for access purposes. Therefore, the position of the data in the process image has no direct meaning for the CANopen user. PDO SDO I O 1 2 ... Index Sub- Index memory area for input data I/O modules input modules word 255 output modules word 0 word 255 fieldbus master word 0 memory area for output data fieldbus coupler Object directory() Fig. 3.1-1: Fieldbus specific data exchange for a CANopen fieldbus coupler g012431e

• 57 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.5.4.1 Indexing the I/O Module Data If a customer specific configuration was stored prior to the initialization, and if the currently connected module configuration coincides with the configura- tion stored before, initialization takes place with this configuration. Note For an example for the initialization of the customer specific configuration, please refer to chapter 3.1.6.6 "Application specific Mapping". In every other case, when initializing, the object directory is assigned a default configuration according to the device profile DS 401. The entry into the object directory is then made separately according to data width (1 bit, 1 byte, 2 bytes, 3 bytes, etc...) and input and output. The physical bus module arrangement within a node is optional. Data width = 1 Word / channel Data width = 1 Bit / channel Analog input modules Digital input modules Analog output modules Digital output modules Input modules for thermal elements Digital output modules with diagnostics (2 Bit / channel) Input modules for resistance 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 measurement Table 3-1: I/O module data width Note For the number of input and output bits or bytes of the individual I/O modules please refer to the corresponding I/O module description. The digital module data is taken into consideration first. Knowing that CANopen does not transmit the data bit by bit, the digital mod- ule data is grouped to form bytes and assigned to the corresponding index, digital input data to index 0x2000, digital output data to index 0x2100. The assignment of bus module data of a data width of 1 byte or more is made in relation to the individual indices. The table reviews the indices of the bus module data. input modules output modules Data width Index 1 Bit digital 0x2000 0x2100 1 Byte specialty modules 0x2200 0x2300 2 Byte specialty modules 0x2400 0x2500 3 Byte specialty modules 0x2600 0x2700 4 Byte specialty modules 0x2800 0x2900 5 Byte specialty modules 0x3000 0x3100 6 Byte specialty modules 0x3200 0x3300 7 Byte specialty modules 0x3400 0x3500 8 Byte specialty modules 0x3600 0x3700 Table 3-2: Indexing the bus module data in the object directory

Data Exchange WAGO-I/O-SYSTEM 750 CANopen Each index has a maximum of 256 sub-indexes (sub-index 0-255). The number of data inputs is quoted in sub-index 0, whereas in the following sub-indices the data is filled in blocks. The block size depends on the data width of the bus module. Sub-Index Contents 0 Number of Data blocks 1 First Data block with the data width of the I/O module 2 Second Data block with the data width of the I/O module ... ... Table 3-3: Sub-indices of the bus module data in the object directory Note For a detailed description of setting the default configuration please refer to chapter 4.3.4.1 "Initialization". Attention A process image restructuring may result if a node is changed or extended. In this case the process data addresses also change in comparison with earlier ones. In the event of adding modules, take the process data of all previous modules into account. Example: The bus module 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 bytes per channel (i.e. 750-552). To 1) Index the data of the 5 digital 2 channel input modules: Index: Sub- Index: Contents: Description: 0 2 number of dig. 8 Bit input blocks 1 D4.2 D4.1 D3.2 D3.1 D2.2 D2.1 D1.2 D1.1 *) 1. dig. input block 0x2000 (0x6000) 2 0 0 0 0 0 0 D5.2 D5.1 *) 2. dig. input block *) D1.1 = Data bit module 1 channel 1, D1.2 = Data bit module 1channel 2, etc. To 2) Index the data of the digital 4 channel output module: Index: Sub- Index: Contents: Description: 0 1 number of dig. 8 Bit input blocks 0x2100 (0x6200) 1 0 0 0 0 D1.4 D1.3 D1.2 D1.1 *) dig. output block *) D1.1 = Data bit module 1 channel 1, D1.2 = Data bit module 1 channel 2, etc. To 3) Index the data of the 2 analog 2 channel output modules: Index: Sub- Index: Contents: Description: 0 4 number of 2 Byte specialty channels 1 D1.1 *) 1. output channel 2 D1.2 *) 2. output channel 3 D2.1 *) 3. output channel 0x2500 (0x6411) 4 D2.2 *) 4. output channel *) D1.1 = Data word module 1 channel 1, D1.2 = Data word module 1 channel 2, etc.

• 59 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.6 Starting up a CANopen Fieldbus Node This chapter shows the step-by-step procedure for starting up a WAGO CANopen fieldbus node. Attention This description is given as an example and is limited to the execution of a local start-up of an individual CANopen fieldbus node. The procedure contains the following steps: 1. Connecting the PC and Fieldbus Node 2. Checking and setting the Baud Rate 3. Setting the Module ID 4. Changing to the OPERATIONAL Status 5. Releasing the analog Input Data 6. Application specific Mapping 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 Rate First of all, turn all DIP switches to the “OFF” position (module ID = 0), then apply the supply voltage (DC 24 V power pack) to the fieldbus coupler. 1 2 3 4 5 ON 6 7 8 Fig. 3-11: All DIP switches to “OFF” for checking and setting the Baud rate g012442x Now the currently set Baud rate is checked and displayed by the LED in the top group of LED’s blinking. Note If applying voltage when not all of the DIP switches are in their “OFF” posi- tion, the existing setting will be written as a module ID. Now push the corresponding DIP switches to the desired Baud rate to 'ON', i.e. DIP switch 3 for the Baud rate 125 kB.

Starting up a CANopen Fieldbus Node WAGO-I/O-SYSTEM 750 CANopen 1 2 3 4 5 ON 6 7 8 Fig. 3-12: Setting the Baud rate 125 kB g012443x To be able to store the new setting, push DIP switch 8 also to 'ON'. Then switch off the coupler supply voltage. 1 2 3 4 5 ON 6 7 8 Fig. 3-13: Storing the Baud rate 125 kB g012441x 3.1.6.3 Setting the Module ID The module ID is set with the supply voltage isolated. For this purpose, push all DIP switches to their “OFF” position again. Then push the DIP switch in- tended for the desired module ID to “ON”, i.e. DIP switch 1 for the module ID 1. 1 2 3 4 5 ON 6 7 8 1 2 3 4 5 6 7 8 ON Fig. 3-14: Setting the module ID 1 g012440x As soon 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 initialized following the default mapping, if no application specific configuration was stored. After a fault-free termination of the initialization phase, the coupler automati- cally changes to the PRE-OPERATIONAL status. In this status, communication is possible via SDOs, which you can now use to proceed with various settings via your CAN Master software: • You can set the coupler directly to its OPERATIONAL status. Note Due to the fact that as a default setting, the PDO transmission of the ana- log input data is switched off, the analog input data will not be taken into consideration. • You can release the switched off transmission of the analog input data or • select an application specific mapping.

• 61 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.6.4 Changing to the OPERATIONAL Status You can change the coupler PRE-OPERATIONAL status to the OPERATIONAL status using the Start_Remote_Node command from the network management objects. This creates the communication readiness of the fieldbus node for PDOs (see chapter 5.3.3.1.1 "Start Remote Node"). Note As a default setting, the PDO transmission of the analog input data is switched off. For this reason, this data is read out only once and subse- quently never updated. To be able to use this data via the PDOs, switch the analog input data on in the PRE-OPERATIONAL status. Access via the SDOs is possible at any time. If no further settings are made, the coupler is operational. Communication 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 transmis- sion of analog input data via PDOs is deactivated in the default setting. This means that object 0x6423 "Analoge Input Global Interrupt Enable" has the de- fault value 'FALSE' (= '0') (refer to chapter 5.3.4.4.12 "Objekt 0x6423, Ana- logue Input Global Interrupt Enable"). When the coupler has the PRE-OPERATIONAL status, you can generally re- lease the transmission by setting the object 0x6423 to the TRUE (= '1') value. Subsequently, the "Start Remote Node" command can be used to change the coupler status from PRE-OPERATIONAL to OPERATIONAL. This process allows communication via PDOs and the transmission of analog input data. If no further settings are made, the coupler is operational and communication can occur according to the Default Mapping (refer to chapter 5.3.4.1 "Initiali- zation").

Starting up a CANopen Fieldbus Node WAGO-I/O-SYSTEM 750 CANopen 3.1.6.6 Application specific Mapping An alternative to the use of the default mapping is to define the data to be transmitted by PDOs in an application specific PDO mapping. For this pur- pose, the coupler has to be in the PRE-OPERATIONAL status. Details of how to proceed with an application specific mapping are explained below. Example: The 3rd and the 5th 2 byte analog input channel and the first 8 bit digital input group are to be read using the TxPDO 2. For transmission purposes, the CAN identifier 0x432 is to be used. Transmission must be synchronous with each 3rd SYNC object. The default CAN IDs are used for the SDOs. The setting is made at node 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-index 01 (Transmit PDO Communication Parameter). Deactivating PDO: CAN ID Data Transmit 608 0x23 01 18 01 00 00 00 80 Receive 588 0x60 01 18 01 xx xx xx xx 2. Then deactivate the PDO mapping by zeroing the number of mapping objects in index 0x1A01, sub-index 0 (Transmit PDO Mapping Parameter). Deactivating PDO mapping: CAN ID Data Transmit 608 0x2F 01 1A 00 00 xx xx xx Receive 588 0x60 01 1A 00 xx xx xx xx 3. Enter into the TxPDO mapping parameter structure (Index 0x1A01) the In- dex, Sub-Index and the Object length of the application object. Max. 8 bytes of data can be assigned per PDO. Writing into the mapping parameter structure: Application object Index Sub-Index 3. analog input channel 0x2400 3 5. analog input channel 0x2400 5 1. digital input group 0x2000 1

• 63 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen The following structure must be reached in the mapping parameters of the 2nd TxPDO in order to ensure the task set: TxPDO Mapping Parameter Structure, Index 0x1A01 Application object Sub-Index: Index: Sub-Index: Object length in Bit 0 3 1 0x2400 3 0x10 2 0x2400 5 0x10 3 0x2000 1 0x08 Note First of all enter the mapping parameter sub-index 1 ... 8 in the sub-index 0, followed by the number of valid sub-indexes. These objects are stored with the 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 analog channel 03 Sub-index, where the 3rd analog channel is in the manufacturer device pro- file 00 24 Index (Lowbyte first) where the 3rd analog channel is in the manufacturer de- vice profile Receive 0x588 0x60 01 1A 01 xx xx xx xx 60 OK 011A Index (Lowbyte first) 01 Sub-Index Mapping 5. analog input channel CAN ID Data Transmit 0x608 0x23 01 1A 02 10 05 00 24 Receive 0x588 0x60 01 1A 02 xx xx xx xx Mapping 1. digital input group CAN ID Data Transmit 0x608 0x23 01 1A 03 08 01 00 20 Receive 0x588 0x60 01 1A 03 xx xx xx xx

Starting up a CANopen Fieldbus Node WAGO-I/O-SYSTEM 750 CANopen Number of mapping objects = 3, enter on Sub-Index 0 CAN ID Data Transmit 0x608 0x2F 01 1A 00 03 xx xx xx Receive 0x588 0x60 01 1A 00 xx xx xx xx 4. Now write into the object with Index 0x1801, Sub-Index 1 to 3 (Transmit PDO Communication Parameter) the communication parameters in the structure. Thereby the Transmission Type is 3 ( Synchronous transmission with every 3. SYNC object). Enter the Communication Parameter: TxPDO Communication Parameter, 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 Transmit 0x608 0x2B 01 18 03 00 00 xx xx Receive 0x588 0x60 01 18 03 xx xx xx xx Sub-Index 2: Transmission Type = 3 CAN ID Data Transmit 0x608 0x2F 01 18 02 03 xx xx xx Receive 0x588 0x60 01 18 02 xx xx xx xx Sub-Index 1: Change COB-ID = 432 on PDO and PDO from invalid to valid CAN ID Data Transmit 0x608 0x23 01 18 01 32 04 00 00 Receive 0x588 0x60 01 18 01 xx xx xx xx 5. When you change the bus coupler to OPERATIONAL using the ”Start Remote Node" message, the PDOs are activated and the TxPDO object can now be used for data transmission.

• 65 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.7 LED Display The coupler possesses several LEDs for on site display of the coupler operat- ing status or the complete node. 24V 0V 01 02 STOP RUN TX I/O CANopen C D B A RX OVERFLOW C A 24V 0V 01 02 STOP RUN TX I/O C CANopen D B A RX OVERFLOW A B Fig. 3.1-15: Display Elements 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 status of the communication via CAN. The second group = internal bus consists of the I/O-RUN LED (green) and the I/O ERR LED (red). The internal bus status and the software exception codes are signalled by these LEDs. The third group uses green LEDs. They are located on the right-hand side of the coupler power supply. These display the status of the supply voltage.

LED Display WAGO-I/O-SYSTEM 750 CANopen 3.1.7.1 Fieldbus Status The upper four LED´s (STOP, RUN, Tx- und Rx-Overflow) signal the operat- ing conditions of the CAN communication. STOP RUN TXOVERF RXOVERF Meaning Remedy OFF OFF OFF OFF No function or self- test check supply (24V and 0V), wait for self-test OFF SLOW FLASHING X X Module is in the state PRE- OPERATIONAL OFF ON X X Module is in the state OPERATIONAL ON OFF X X Module is in the STOP state or fatal fieldbus independent error (i.e. a module was removed), incorrect configura- tion Check in the event of a fieldbus inde- pendent error, reset the node, check same in the event of a configuration error X X X ON CAN receiver buffer 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 of the module. X X FAST FLASHING in turns with RXOVERF FAST FLASHING in turns with TXOVERF CAN Controller exceeded the Warn- ing Level, to many error messages Check baud rate and bus connection, install min. 2 mod- ules in the network. OFF FAST FLASHING X X Module is in the state PRE- OPERATIONAL, Sync/Guard Mes- sage/Heartbeat failed Change into the state OPERATIONAL and restart Sync/Guard mes- sage/Heartbeat FAST FLASHING FAST FLASHING X X Module is in the state OPERATIONAL, Sync/Guard Mes- sage/Heartbeat failed Restart Sync/Guard message/Heartbeat FAST FLASHING OFF X X Module is in the state STOP, Sync/Guard Mes- sage/Heartbeat failed Change into the state OPERATIONAL and restart Sync/Guard mes- sage/Heartbeat

• 67 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3.1.7.2 Node Status – Blink Code of the 'I/O' LED LED Color Meaning IO red /green / orange The 'I/O' LED indicates the node operation and signals faults occur- ring. The coupler starts after switching on the supply voltage. The "I/O" LED flashes red. Following an error free start up the "I/O " LED changes to green steady light. In the case of a fault the "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 sequence (approx. 10 Hz) starts the fault display. • The second blink sequence (approx. 1 Hz) following a pause. The number of blink pulses indicates the fault code. • The third blink sequence (approx. 1 Hz) follows after a further pause. The number of blink pulses indicates the fault argument. Fig. 3.1.7-16: Signalling the LED's node status via the 'I/O ERR'-LED g012111e After overcoming a fault, restart the coupler by cycling the power.

LED Display WAGO-I/O-SYSTEM 750 CANopen I/O Meaning green Data cycle on the internal bus off No data cycle on the internal bus red Coupler hardware defective red blinks When starting: internal bus is initialized During operation: general internal bus fault red blinks cyclically Fault message during internal bus reset and internal fault: The fault message is diplayed via the 'I/O ERR'-LED with the aid of a blink code and evaluated as fault code and fault argument. Fault Message of the 'I/O' LED 1 st blink sequence: Starting the fault display 2 nd blink sequence: Fault code 3 rd blink sequence: Fault argument Fault code 1: "Hardware and Configuration fault" Fault argument Fault description Trouble shooting - Checksum error of the parameter data 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 node, reduce number of I/O mod- ules and turn the power supply on again. If the error still exists, ex- change the bus coupler. 2 I/O module(s) with unsupported data type Detect faulty I/O module as fol- lows: turn off the power supply. Place the end module in the middle of the fieldbus node. Turn the power supply on again. – If the LED is still blinking, turn off the power supply and place the end module in the middle of the first half of the node (towards the coupler). – If the LED doesn’t blink, turn off the power supply and place the end module in the middle of the second half of the node (away from the coupler). Turn the power supply on again. Repeat this procedure until the faulty I/O module is detected. Replace the faulty I/O module. Ask about a firmware update for the fieldbus coupler.

• 69 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen 3 Module type of the flash pro- gram memory could not be de- termined / is incorrect Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 4 Fault during writing in the flash memory Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 5 Fault when deleting the FLASH memory Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 6 Changed I/O module configura- tion found after AUTORESET Restart the fieldbus coupler by turning the power supply off and on again. 7 Fault when writing in the serial EEPROM Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 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 of the node, exchange the bus coupler and turn the power supply on again. 10 Initialisation error in the EEPROM Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 11 Fault when reading out data from the EEPROM Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 12 Timeout when writing data in the EEPROM Turn off the power supply of the node, exchange the bus coupler and turn the power supply on again. 14 Maximum number of Gateway modules or modules with Mail- box functionality exceeded Turn off the power supply of the node, reduce number of Gateway modules or modules with Mailbox functionality and turn the power supply on again. Fault code 2: -not used- Fault argument Fault description Trouble shooting - not used -

LED Display WAGO-I/O-SYSTEM 750 CANopen Fault code 3: "Internal bus protocol fault" Fault argument Fault description Trouble shooting - Internal bus communication malfunction; faulty device can’t be detected If the fieldbus node comprises internal system supply modules (750-613), make sure first that the power supply of these modules is functioning. This is indicated by the status LEDs. If all I/O modules are connected correctly or if the fieldbus node doesn’t comprise 750-613 modules you can 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 off the power supply and place the end module in the middle of the first half of the node (towards the coupler). – If the LED doesn’t blink, turn off the power supply and place the end module in the middle of the second half of the node (away from the 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, then this I/O module or the coupler is defective. Replace defective com- ponent.

• 71 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen Fault code 4: "Internal bus physical fault" Fault argument Fault description Trouble shooting - Error in internal bus data com- munication or interruption of the internal bus at the coupler Turn off the power supply of the node. Place an I/O module with process data behind the coupler and note the error argument after the power supply is turned on. If no error argument is given by the I/O LED, replace the coupler. Otherwise detect faulty I/O mod- ule as follows: turn off the power supply. Place the end module in the middle of the fieldbus node. Turn the power supply on again. – If the LED is still blinking, turn off the power supply and place the end module in the middle of the first half of the node (towards the coupler). – If the LED doesn’t blink, turn off the power supply and place the end module in the middle of the second half of the node (away from the 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, then this I/O module or the coupler is defective. Replace defective com- ponent. n* Interruption of the internal bus after the nth process data module. Turn off the power supply of the node, exchange the (n+1)th process data module and turn the power supply on again. Fault code 5: "Internal bus initialization fault" Fault argument Fault description Trouble shooting n* Error in register communication during internal bus initialization Turn off the power supply of the node and replace nth process data module and turn the power supply on again. Fault code 6 " Project engineering node configuration fault " Fault argument Fault description Trouble shooting n Wrongly configured I/O module in the Spacer module mapping. Check the Spacer module mapping. Fault code 9 "CPU-TRAP error" Fault argument Fault description Trouble shooting 1 Illegal Opcode 2 Stack overflow 3 Stack underflow 4 NMI Program sequence fault. Please contact the WAGO I/O Support.

LED Display WAGO-I/O-SYSTEM 750 CANopen Fault code 11: "Fault with Modules with Mailbox functionality" Fault argument Fault description Trouble shooting Maximum number of Modules with Mailbox functionality ex- ceeded Turn off the power supply of the node, reduce number of Modules with Mailbox functionality and turn the power supply on again. Note For Couplers with the Firmware version 10 to 15, 3 Mod- ules with Mailbox functionality are possible, starting with the Firmware version 16, 8 Modules with Mailbox func- tionality are supported. 1 Attention Please pay attention to the delimitation by the size of the process image, while configurating a node with analog I/O modules and Modules which have the Mailbox functional- ity. Dependent on the complete configuration of all I/O mod- ules of a node can, in particular with the employment of the AS interface master (up to 48 byte data width), in some cases already rather be reached the internal border. This error can thus also occur, if the maximum 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 the data width of the Mod- ules with Mailbox functionality. * The number of blink pulses (n) indicates the position of the I/O module. I/O modules without data are not counted (e.g. supply module without diagnosis) Example: the 13th I/O module is removed. 1. The "I/O" LED generates a fault display with the first blink sequence (approx. 10 Hz). 2. The first pause is followed by the second blink sequence (approx. 1 Hz). The "I/O" LED blinks four times and thus signals the fault code 4 (internal bus data fault). 3. The third blink sequence follows the second pause. The "I/O ERR" LED blinks twelve times. The fault argument 12 means that the internal bus is interrupted after the 12th I/O module. 3.1.7.3 Supply Voltage Status LED Color Meaning A green Status of the operating voltage – system B or C green Status of the operating voltage – power jumper contacts (LED position is manufacturing dependent) There are two green LED’s in the coupler supply section to display the supply voltage. The LED A (left above) indicates the 24 V supply for the coupler.

• 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.

Technical Data WAGO-I/O-SYSTEM 750 CANopen 3.1.8 Technical Data System Data Max. number of partitipants in the CAN-network (without repeater) 110 Transmission medium shielded Cu cable3 x 0.25 mm2 Max. length of bus line 30 m ... 100 m (baud rate dependent / cable dependent) Baud rate 10 kBaud ... 1 MBaud Fieldbus connection 750-337: 750-338: - 5-pole male connector, series 231 (MCS) female connector 231-305/010-000 is included - 1 x D-SUB 9; plug 750-963 is not included Standards and Regulations (cf. Chapter 2.2) 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 marine applications -Immunity to interference *) acc. to Germanischer Lloyd (01) EMC marine applications -Emission of interference *) acc. to Germanischer Lloyd (01) *) only 750-337 Approvals (cf. Chapter 2.2) CULUS (UL508) ABS (American Bureau of Shipping) *) BV (Bureau Veritas) *) DNV (Det Norske Veritas) *) Cl. B GL (Germanischer Lloyd) *) Cat. A, B, C, D KR (Korean Register of Shipping) *) LR (Lloyd's Register) *) Env. 1, 2, 3, 4 NKK (Nippon Kaiji Kyokai) RINA (Registro Italiano Navale) *) CULUS (UL1604) Class I Div2 ABCD T4A DEMKO *) II 3 G EEx nA II T4 Conformity Marking *) *) only 750-337

• 75 Fieldbus Coupler WAGO-I/O-SYSTEM 750 CANopen Accessories EDS files Download: www.wago.com Miniature WSB quick marking system Technical Data Number of I/O modules 64 Number of supported Modules with Mailbox functionality max. 3 (with Firmware version 10 to 15) max. 8 (starting with Firmware version 16) Fieldbus -Input Process Image -Output Process Image max. 512 Byte max. 512 Byte Configuration via PC or PLC No. of PDO 32 Tx / 32 Rx No. of SDO 2 Server SDO Communication 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 CANopen features NMT Slave, Minimum Boot-up, Variables PDO Mapping, Emergency Message, Life Guarding Voltage supply DC 24 V (-15 %...+ 20 %) Input current max 500 mA at 24 V Efficiency of the power supply 87 % Internal power consumption 350 mA at 5 V Total current for I/O modules 1650 mA at 5 V Isolation 500 V system / field Voltage via power jumper contacts DC 24 V (-15 %...+ 20 %) Current via power jumper contacts max DC 10 A Dimensions (mm) W x H x L 51 x 65* x 100 (*from top edge of mounting rail) Weight ca. 195 g

Description WAGO-I/O-SYSTEM 750 CANopen 4 CANopen 4.1 Description CAN (Controller Area Network) was developed in the mid-eighties for data transmission in automobiles. The CAN specification defines the Data Link Layer which is the physical and data backup layer. The message structure is exactly described, however, nothing is said regarding the Application Layer. CAL, in the contrary, describes the Application Layer or the Meaning of the transmitted data. CAL is a general descriptive language for CAN networks and provides a large number of communication services. CANopen is a networking concept based on the serial bus system CAN. CANopen is defined as a uniform application layer by the DS 301 specifica- tions of the CIA (CAN in automation). The network management provides a simplified start-up of the network. This network can be extended 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, the subscribers are allowed to send messages. Bus conflicts are solved in that the messages are assigned a certain priority. This priority is defined by the COB ID (Communication Object Identifier) and is clearly assigned to a communication object. The smaller the assigned identi- fier, the higher the priority. This also allows communication without the bus master group. Each bus subscriber is solely decisive as to the point in time of data transmis- sion. However, there is also a possibility to request other bus subscribers to send data. This request is performed via the so-called remote frame. The CANopen specification (DS 301) defines the technical and functional fea- tures used to network distributed field automation devices. Further information CAN in Automation (CiA) provides further documents for their members in the Internet under: can-cia.de

Network Architecture WAGO-I/O-SYSTEM 750 CANopen 4.2 Network Architecture 4.2.1 Transmission Media 4.2.1.1 Type of Cable A bus medium forms the basis for the physical connection of CAN. With CAN, both the bus coupling and the bus medium are specified according to ISO 11898 (CAN High-Speed). According to the cable specification, the Twisted-Pair medium (shielded ca- bles twisted in pairs) with a wave resistance of 108...132 Ohm is recom- mended. Twisted-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 mm²). Two important points have to be taken into consideration when designing the electrical bus medium: • the maximum bus length and • the required conductor cross section. 4.2.1.2 Maximum Bus Length The length of the bus is mainly limited by the signal running time and must, therefore, be adapted to the Baud rate: Baud rate Bus length 1 Mbit/s 30 m 800 kbit/s 50 m 500 kbit/s 100 m 250 kbit/s 250 m 125 kbit/s 500 m ≤ 50 kbit/s 1000 m Table 4-1: Maximum bus length dependent on the set Baud rate

Network Architecture WAGO-I/O-SYSTEM 750 CANopen 4.2.1.3 Required Conductor Cross Section The conductor cross section depends on the conductor length and has to be se- lected according to the number of nodes connected. Fig. 4-1: Conductor cross section depending on the conductor length and the number of nodes 4.2.2 Cabling The connection of a WAGO fieldbus node to the CANopen bus cable is made by the appropriate supplied plug (5-pole plug MCS or 9-pole plug D-SUB). For cabling with a shielded copper cable (3x0.25 mm²), the plug is assigned with the CAN_High, CAN_Low and CAN_GND connections. CAN_High and CAN_Low are two physically different bus levels. CAN_GND is the common reference potential. The conductor shield of the cable can be routed on the connection drain, which is terminated with 1 MΩ as against the ground or PE (carrier rail con- tact). A low ohmic connection of the shield to the PE can only be made exter- nally (i.e. by means of a supply module). The aim is for a central PE contact for the entire CANopen bus conductor screening. Note WAGO offers the screen connection system (series 790) for an optimum con- nection between fieldbus cable screening and functional earth. Each CAN node forms the differential voltage UDiff with: UDiff = UCAN_High - UCAN_Low. from the bus levels CAN_High and CAN_Low. The different signal transmission offers the advantage of being immune to common mode interference and ground offset between nodes. 0,75 1 0,34 0,25 0,5 0,25 0,5 0,75 1 100 150 200 250 300 350 400 450 500 Conductor length L/m 32 nodes 64 nodes 100 nodes

Network Architecture WAGO-I/O-SYSTEM 750 CANopen If the bus level is in the recessive status, the voltage between CAN_Low and CAN_GND is 2.5 V and also 2.5°V between CAN_High and CAN_GND. This means that the differential voltage is 0 V. If the bus level is in the dominant status, the voltage between CAN_Low and CAN_GND is 1.5 V and 3.5°V between CAN_High and CAN_GND. Then differential voltage is approx. 2 V. Note When connecting subscribers, ensure that 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 also required for very short conductor lengths. CL+ M S 17 18 22 750-307 8 7 6 5 4 3 2 1 ON RT RT CAN_High CAN_Low RT = 120 Ohm Fig. 4-2: Connection principle of a WAGO fieldbus node to the CAN bus g012402x Before starting the buscoupler on the network, the installation should be checked. The physical connection can be checked in the CAN fieldbus with an ohmmeter at any place. You have to remove all connections to other devices except for the terminating resistors.

Network Architecture WAGO-I/O-SYSTEM 750 CANopen RT RT CAN_High CAN_Low RT = 120 Ohm GND ohmmeter Fig. 4-3: Measuring principle to check the CAN bus prior to wiring g012445e Measurement Value Meaning infinite ok. GND and CAN_L 0 Short-circuit between GND and CAN_L infinite o.k. GND and CAN_H 0 Short-circuit between GND and CAN_H ca. 60 Ω o.k., 2 terminal resistors in the bus ca. 120 Ω Only 1 terminal resistor in the bus CAN_L and CAN_H < 50 Ω More than 2 terminal resistors in the bus The CAN bus is 2-wire bus and bus error management can detect a cable break or a short-circuit by the asymmetric operation. Further information The CiA provides documents regarding specifications, especially cable specifi- cations in the Internet under: http://www.can-cia.de

Network Architecture WAGO-I/O-SYSTEM 750 CANopen 4.2.3 Network Topology To build a simple CANopen network, you need a master (PC with a CANopen fieldbus PCB card), a connection cable and a DC 24 V power pack to ensure the power supply in addition to a CANopen fieldbus node. The CANopen network is constructed as a line structure with matching resis- tors (120 Ohm). In systems having more than two stations, all subscribers are wired in parallel. The maximum length for a conductor branch should not exceed 0.3 m. Terminator Terminator Line, Bus Terminator Network node Fig. 4-4: Bus topology of a CANopen network g012430e All net subscribers communicate at the 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 operation. The system automatically detects when a subscriber fails or is newly added to the net. Also branches from the line-shaped bus and as such the establishment of hi- erarchic net structures are possible via router nodes. Repeaters can be used to increase the maximum possible number of nodes to 110 and to enlarge the network spatial extension (bus length). Although the network spatial extension depends on the transmission rate, CAN can also be used for spatially extended networks. The data rates achievable are of the same order as with other bus systems. However, the maximum possi- ble cable length is reduced per repeater by 20 - 30 m due to the signal de- lay.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.2.4 Interface Modules In a network, all WAGO CANopen fieldbus nodes operate as slaves. The mas- ter operation is taken over by a central control system, such as PLC, NC or RC. The connection to fieldbus devices is made via interface modules Interface modules for programmable logic controls (PLCs) and PC interface PCBs for CANopen are offered by various manufacturers. 4.2.5 Configuration Software Before a PLC can communicate I/O data with a fieldbus device, the fieldbus controller board has to be configured for each field bus device on the network. The software for configuring and diagnosing fieldbus networks is delivered with the Interface modules for programmable logic controls (PLCs) 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 made available with the merging of the EDS files (Electrical Data Sheet) in the con- figuration software. Note EDS and Symbol files for the configuration of I/O modules are available for free download on the INTERNET Site: www.wago.com / Service / Downloads / Software / ELECTRONICC / EDS files for CANopen. 4.3 Network Communication With CANopen, data transmission, the triggering of events, signalling of error states etc. takes place by means of communication objects. For this purpose, each communication object is assigned a clear COB-ID (Communication Ob- ject Identifier) in the network. The COB ID assignment according to the Device profile DS401 results in ac- cordance with the following table. 10 9 8 7 6 5 4 3 2 1 0 Function code node identifier (0[= all], 1-127)

Network Communication WAGO-I/O-SYSTEM 750 CANopen Function code Resulting COB-ID Object directory index Communication objects dec bin dec bin hex Broadcast messages NMT Command Sync message System time Alarm objects 0 1 2 1 0000 0001 0010 0001 0 128 256 129-255 80 100 81-FF 1005, 1006, 1007 1012, 1013 1014, 1015 Tx-PDO1 Rx-PDO1 Tx-PDO2 Rx-PDO2 Tx-PDO3 Rx-PDO3 Tx-PDO4 Rx-PDO4 3 4 5 6 7 8 9 10 0011 0100 0101 0110 0111 1000 1001 1010 385-511 513-639 641-767 769-895 897-1023 1025-1151 1153-1279 1281-1407 181-1FF 201-27F 281-2FF 301-37F 381-3FF 401-47F 481-4FF 501-57F 1800 1400 1801 1401 1802 1402 1803 1403 Tx-SDO Rx-SDO 11 12 1011 1100 1409-1535 1537-1663 581-5FF 601-67F 1200 1200 Peer-to- Peer messages node monitoring 14 1110 1793-1919 701-77F 100C, 100D 1016, 1017 The parameters required for the communication objects as well as the parame- ters and data of the CANopen subscribers are filled 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 synchronization (SYNC) or for error messages (EMCY), the communica- tion profile contains the two object types PDO and SDO. The PDOs (process data objects) are used for the transmission of real time data, and the SDOs (service data objects) permit access to the object directory both for reading and writing. 4.3.1 Communication Objects 4.3.1.1 Process Data Object - PDO PDOs contain real time data with high priority identifiers. The data telegrams consist of a maximum of 8 bytes and can be interchanged among the individ- ual sub-assemblies, as required. This data exchange can be optionally event controlled or performed in a synchronized manner. The event controlled mode allows the bus load to be drastically reduced permitting a high communication capacity at a low Baud rate. However, the various modes can also be proc- essed as a mix (see chapter 4.3.4.2.19 "Object 0x1400– 0x141F, Receive PDO Communication Parameter")

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.1.1.1 PDO Protocol This protocol is used to transmit data from/to the bus coupler without protocol overhead. PDOs consist only of the CAN identifier and the data field. No fur- ther protocol information is contained in a PDO. The contents of the data are defined by the mapping parameters and the transmission type by the commu- nication parameters. 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 = xx Transmit Process Data Object (TxPDO) COB-ID = xx Data 0 8 Server Abb. 4-2: TxPDO g012404x 4.3.1.2 Service Data Object - SDO The SDOs can be used to read and/or write entries in the object directory. In this manner, a CANopen subscriber can be fully configured. The default SDO is pre-assigned with a low priority identifier. The transmitted data has to be distributed to several messages if it exceeds 4 bytes.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.1.2.1 SDO Protocol A specific protocol overhead that is indispensable for transmission and con- tains the command specifier, the index and the sub-index of the entry to be read/written. 4.3.1.2.1.1 General Design Client Client Receive Service Data Object (RxSDO) Transmit Service Data Object (TxSDO) COB-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 Server Server Fig. 4-3: SDO Protokoll g012405x 4.3.1.2.1.2 Download SDO Protocol This protocol is used to write data from the master into the bus coupler. 4.3.1.2.1.2.1 Initiate SDO Download This protocol is used to initiate the data transmission from the master to the bus coupler. When transmitting data of max. 4 bytes, these are also transmitted within the protocol.

Network Communication WAGO-I/O-SYSTEM 750 CANopen Client Client Initiate SDO Download Initiate SDO Download Data Data ccs = 1 scs = 3 x x x x n e e s m m s request confirm indication response 0 0 .0 .0 .7 .7 .6 .6 .5 .5 .4 .4 .3 .2 .3 .2 .1 .1 1 1 4 4 8 8 Server Server ccs: client command specifier 1: initiate download request scs: server command specifier 3: initiate download response n: only valid if e = 1 and s = 1, otherwise 0. If n is valid, it displays the number of bytes 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 written < 5 byte s: size indicator 0: data set size is not displayed 1: data set size is displayed s is always 1 m: multiplexor Index and Sub-Index of object directory Index, Low Byte : Byte #1 Index, High Byte: Byte #2 Sub-Index: Byte #3 d: data e = 0, s = 0: d is reserved for further use of CiA e = 0, s = 1: d contains the number of bytes for download Byte 4 contains the LSB and Byte 7 contains the MSB. e = 1: d contains the data X: Not used, always 0 reserved: Reserved for further use of CiA

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.1.2.1.2.2 Download SDO Segment This protocol is used to transmit more than 4 data, i. e. this follows after fully processing the „Initiate SDO Download Protocol" which initiates the data transmissions. Client Client Download SDO Segment Download SDO Segment Segment data reserved ccs = 0 scs = 1 t t x n c 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 Fig. 4-5: Download SDO Segment g012409x ccs: client command 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 application. n: Displays the number of bytes not containing any data. n is 0 if no segment size is displayed. c: Indicates whether or not a download is necessary for further data. 0: There is more data to be downloaded. 1: There is no more data to be downloaded. t: Toggle Bit This bit must be able to toggle for each segment for which a download is made. The first segment zeroes the toggle bit. The toggle bit is identical both for the enquiry and the reply message. X: Not used, always 0 reserved: Reserved for further use of CiA

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.1.2.1.3 Upload SDO Protocol This protocol is used to read data out of the bus coupler. 4.3.1.2.1.3.1 Initiate SDO Upload The data transmission from the bus coupler to the master is initiated with this protocol. When transmitting data of max. 4 bytes, these are also transmitted within the protocol. Client Client Initiate SDO Upload Initiate SDO Upload reserved Data ccs = 2 scs = 2 x x n e m m s request confirm indication response 0 0 .0 .0 .7 .7 .6 .6 .5 .5 .4 .4 .3 .2 .3 .2 .1 .1 1 1 4 4 8 8 Server 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 0. If n is valid, it displays the number of bytes in d which do not contain any data. The bytes [8-n, 7] do not contain segment data. e: transfer type 0: normal transfer, number of bytes to be written >= 5 bytes 1: expedited transfer, number of bytes to be written < 5 bytes s: size indicator 0: the number of bytes to be transmitted is not displayed 1: the number of bytes to be transmitted is dis- played (depending on the number of bytes) m: multiplexor Index and sub-index of the object directory: Index, Low Byte : Byte #1 Index, High Byte: Byte #2 Sub-Index: Byte #3

Network Communication WAGO-I/O-SYSTEM 750 CANopen d: data e = 0, s = 0: d is reserved for further use of CiA e = 0, s = 1: d contains the number of bytes for download Byte 4 contains the LSB and Byte 7 contains the MSB. e = 1: d contains the data X: Not used, always 0 reserved: Reserved for further use of CiA 4.3.1.2.1.3.2 Upload SDO Segment This protocol is used if more than 4 data is transmitted, i.e. this follows after fully processing the „Initiate Upload Protocol" which initiates the data trans- missions. 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 Fig. 4-7: Upload SDO Segment g012411x ccs: Client command specifier 3: download segment request scs: Server command specifier 0: download segment response t: Toggle bit This bit has to change for each segment for which an upload is made. The toggle bit has to be zeroed for the first segment. The toggle bit is identical both for the enquiry and the reply. c: Indicates whether further segments are present for the upload 0: there are more segments to be uploaded 1:there are no more segments for uploading

Network Communication WAGO-I/O-SYSTEM 750 CANopen seg-data: Contains the data to be transmitted. The meaning of the data is determined by the application. n: Displays the number of bytes which do not con- tain data. Bytes [8-n, 7] do not contained data. N is 0 if no segment size is displayed. X: Not used, always 0 reserved: Reserved for further use of CiA 4.3.1.2.1.4 Abort 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 Transfer g012412x cs: command specifier 4: abort domain transfer m: multiplexor Index and Sub-Index of Object directory: X: Not used, always 0 Data 4 Byte Error Code Application specific data about the reasons for the abort. Supported Abort Domain Transfer Messages Structure: Byte Meaning 0 Command Specifier; 0x80 1 2 Index 3 SubIdx 4 5 Additional Code 6 Error Code 7 Error Class

Network Communication WAGO-I/O-SYSTEM 750 CANopen Via Additional Code, Error Code and Error Class the following Errors are coded as UNSIGNED32: Byte 7 6 Byte 5 Byte 4 Additional Code Error Code Error Class Meaning 05 03 00 00 Toggle bit not alternated 05 04 00 00 SDO protocol timed out 05 04 00 01 Client/server command specifier not valid or unknown 05 04 00 02 Invalid block size (block mode only) 05 04 00 03 Invalid sequence number (block mode only) 05 04 00 04 CRC error (block mode only) 05 04 00 05 Out of memory 06 01 00 00 Unsupported access to an object 06 01 00 01 Attempt to read a write only object 06 01 00 02 Attempt to write a read only object 06 02 00 00 Object does not exist in the object dictionary 06 04 00 41 Object cannot be mapped to the PDO 06 04 00 42 The number and length of the objects to be mapped would exceed PDO length 06 04 00 43 General parameter incompatibility reason 06 04 00 47 General internal incompatibility in the device 06 06 00 00 Access failed due to an hardware error 06 07 00 10 Data type does not match, length of service parameter does not match 06 07 00 12 Data type 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 exceeded (only for write access) 06 09 00 31 Value of parameter written too high 06 09 00 32 Value of parameter written too low 06 09 00 36 Maximum value is less than minimum value 08 00 00 00 general error 08 00 00 20 Data cannot be transferred or stored to the application 08 00 00 21 Data cannot be transferred or stored to the application because of local control 08 00 00 22 Data cannot be transferred or stored to the application because of the present device state 08 00 00 23 Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error) 4.3.1.2.2 SDO Examples The following are 4 SDO examples, the data is being displayed in hexadeci- mal. These examples show the handling of SDOs on the CAN message level and can be used if the SDO protocol is to be implemented on a CAN card. A message is subdivided into 4 columns: 1. column Direction M->BC = message is sent by the master to the bus coupler. BC->M = message is sent by the bus coupler to the master. 2. column CAN Identifier 3. column Frame Type D = Data frame R = RTR frame

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4. column Data Data bytes of the CAN message A maximum of 8 data bytes can be transmitted in a CAN mes- sage. The individual bytes are separated by spaces. Entries having the value XX have no meaning, but must be existing. The values should be zeroed for a better understanding. Entries in the reply from the bus coupler having the value DD contain data, which are dependent on the configuration. 4.3.1.2.2.1 Example 1: Read Index 0x1000 Sub-Index 0; Device Type Index 0x1000 returns 4 bytes. The expedited transfer mode is used for trans- mission. Direction CAN Id Frame Type Data byte 0-7 M->BK 0x601 D 0x40 00 10 00 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, High Byte rotation 4.3.1.2.2.2 Example 2: Read Index 0x1008 Sub-Index 0; Manufacturer Device Name Index 0x1008 returns more than 4 bytes. The normal transfer mode is used for transmission in which case 2 messages per mode are transmitted. Direction CAN Id Frame Type Data byte 0-7 M->BK 0x601 D 0x40 08 10 00 XX XX XX XX BK->M 0x581 D 0x41 08 10 00 07 00 00 00 M->BK 0x601 D 0x60 XX XX XX XX XX XX XX BK->M 0x581 D 0x01 37 35 30 2D 33 33 37 Result: The first reply from the bus coupler informs the master of the number of data to be transmitted (0x00000007 Byte). In the second message, the bus coupler supplies the article number in the ASCII format (hex representation) „750-337“.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.1.2.2.3 Example 3: Read Index 0x6000 Sub-Index 1; First 8 bit digital input block The signals of the digital input modules are saved in index 0x6000. 8 bits each are assigned to a group and can be read as from sub index 1. In this example, the input value of the first 8 bit group is read via an SDO message. Direction CAN Id Frame Type Data byte 0-7 M->BK 0x601 D 0x40 00 60 01 XX XX XX XX BK->M 0x581 D 0x4F 00 60 01 02 XX XX XX Result: In the 5th byte of the CAN message, the bus coupler returns the status of the first group of 8 bits. In this case the 2nd bit is set. Bytes 5-7 are without mean- ing. 4.3.1.2.2.4 Example 4: Write Index 0x6200 Sub-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 1. In this example, the value 0xFF is written into the outputs of the first 8 bit digital output group. Direction CAN Id Frame Type Data byte 0-7 M->BK 0x601 D 0x2F 00 62 01 FF XX XX XX BK->M 0x581 D 0x60 00 62 01 XX XX XX XX Result: The outputs of the first 8 bit digital output modules are set. 4.3.1.3 Synchronization Object - SYNC These objects allow the synchronization of all network subscribers. Corre- sponding configuration of the PDOs can initiate the network subscribers to process their input data or to update the outputs upon the arrival of a SYNC object. In this manner cyclical transmission of a SYNC object ensures that all net- work subscribers will process their process data simultaneously.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.1.3.1 SYNC Protocol Sync Producer Sync Protokoll COB-ID = 128 L = 0 Sync Consumer(s) request indication(s) Fig. 4-9: SYNC Protocol g012413x 4.3.1.4 Emergency Object (EMCY) Emergency objects are triggered by an internal error situation such as i.e. a module is removed 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 then react accordingly by suitable error correction measures. 4.3.1.4.1 EMCY Protocol EMCY Producer EMCY Protokoll EMCY Consumer(s) request indication(s) MER EEC ER 0 2 3 8 Fig. 4-10: EMCY Protocol g012414x More Information A detailed description to the Emergency messages, please refer to chapter 4.3.9 "Error Message (Emergency)".

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.2 Communication states of a CANopen fieldbus coupler/controller 4.3.2.1 CANopen state diagram The status diagram described in the following figure shows the individual communication states and possible transitions related to the CAN communica- tion. Power On Initialization Pre-Operational Operational Stopped Error Start Remote Node Start Remote Node Stop Remote Node Stop Remote Node Enter Pre-Operational Enter Pre-Operational Reset Node Reset Communication Initialisation finished Fig. 4-11: State diagram of the fieldbus coupler/controller g012422x 4.3.2.2 INITIALIZATION Following a power On or a reset (module ID unequal 0), the bus coupler is automatically 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 basis of the con- nected modules and a possibly stored configuration, and the object directory initialized. If no errors are detected during the initialization phase the bus cou- pler automatically changes to the pre-operational status. If errors were found, a change to the STOP status takes place. During initialization, the I/O-LED starts blinking orange and changes to red at its higher frequency. If initialization and the change to the pre-operational status have been successfully completed, the I/O LED is lit green and the RUN LED blinks. If errors have occurred (i.e. no end module connected) the I/O LED indicates the error type by a red blinking sequence (see LED status display). In this case, the STOP LED is lit red.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.2.3 PRE-OPERATIONAL In this status, communication can be made via SDOs. Communication via PDOs is not possible. The SDOs allow for reading and writing in the entries of the object directories permitting for instance to re-configure the bus coupler by means of the configuration tool. Mapping, bus coupler parameters, IDs etc. can in this manner be adapted to the required conditions. The newly config- ured configuration can be saved in flash. A change from the pre-operational status to the operational status is performed by means of the NMT service Start_Remote_Node. In the pre-operational status the I/O LED is lit green and the RUN LED blinks. 4.3.2.4 OPERATIONAL This status allows communication 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 the corresponding entries in the object directory. The change from the operational status to the pre-operational status is per- formed with the NMT service Enter_Pre_Operational_State. In the operational status, the I/O and the RUN LED are lit. 4.3.2.5 STOPPED The Stopped status reflects an error status. This is the case if the NMT service Stop_Remote_Node was received or if a fatal internal error has occurred (i.e. module was removed during operation). This status does not allow communication via SDOs or PDOs. Only the NMT services and the Node Guarding/Heartbeat (if activated) are performed. You can quit the Stopped status via the NMT services Start_Remote_Node_Indication, Enter_Pre_Operational_State and Re- set_Node. The Stop LED is lit in the Stopped status.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.3 Network Management Objects 4.3.3.1 Module Control Protocols The NMT master can use these protocols to check the status of the NMT slave. The following states are defined: INITIALIZING, PRE- OPERATIONAL, OPERATIONAL and STOPPED. It is possible to change the status of all nodes with one command or to change the status of each node individually. 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 0 1 Fig. 4-12: Start Remote Node g012415x Node ID = 0: The state of all existing nodes is changed to OPERATIONAL. 4.3.3.1.2 Stop Remote Node This service is used to change the NMT Slave (bus coupler) status to STOPPED. NMT Master Stop Remote Node NMT Slave(s) request indication(s) CS = 2 COB-ID = 0 Node ID 0 1 Fig. 4-13: Stop Remote Node g012416x Node ID = 0: The state of all existing nodes is changed to STOPPED.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.3.1.3 Enter Pre-Operational This service is used to change the status of the NMT Slave (bus coupler) to PRE-OPERATIONAL. NMT Master Enter Pre-Operational NMT Slave(s) request indication(s) CS = 128 COB-ID = 0 Node ID 0 1 Fig. 4-14: Enter PRE-OPERATIONAL g012417x Node ID = 0: The state of all existing nodes 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 ID 0 1 Fig. 4-15: Reset Node g012418x Node ID = 0: a reset of all existing nodes is performed. 4.3.3.2 Error Control Protocols These protocols permit the detection of possible errors in the network. In this manner the master can check whether a node is still in the status defined by it or if it has changed to a different status, for instance following a reset.

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.3.3 Node Guarding Protocol By means of Node Guarding, the NMT slave is cyclically requested via an RTR frame to send its current status. Additional toggling of a bit detects whether or not the NMT slave still operates correctly. NMT Master Node Guarding Protocol NMT Slave request confimation confimation indication Network Event * *if guarding error Node Event * indication indication response response .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 Heartbeat Protocol This protocol allows monitoring without RTR frames. A heartbeat generator cyclically generates a heartbeat message received by n subscribers. The heart- beat message contains the coding of the current generator status. Heartbeat Producer Heartbeat Protocol Heartbeat Consumer request request Heartbeat Producer Time Heartbeat Consumer Time Heartbeat Event indication(s) indication(s) indication 0 … 7 s 0 … 7 s Fig. 4-17: Heartbeat Protocol g012420x

Network Communication WAGO-I/O-SYSTEM 750 CANopen 4.3.3.5 Bootup Protocol This protocol shows that the NMT slave has changed its status from INITIALIZING to PRE-OPERATIONAL. This is performed after a hardware/software reset or following the service reset code. NMT Slave NMT Master request indication 0 COB-ID = 1792 + Node-ID 0 Fig. 4-18: Bootup Protocol g012421x 4.3.4 Object Directory The object directory is the central point of a CANopen subscriber where all configuration information and data is stored and can be polled. The directory organization is by means of tables and contains three areas of CANopen ob- jects: • Communication Profile Area (Index 0x1000 – 0x1FFF) This profile contains all parameters relevant for CANopen 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 objects. • Standardized Device Profile Area (Index 0x6000 – 0x9FFF) This profile contains all objects which are assisted by a certain device profile. The bus coupler assists the device profile DS-401 (Device Pro- file for Generic I/O Modules) In the object directory, a logical addressing scheme is used for the access to communication and device parameters, data and functions. Each entry into the directory is identified by a 16 bit index which indicates the row address of the table. A maximum of 65536 entries are permitted. If an object is composed of several components, the components are identified by means of an 8 bit sub-index. The sub-index indicates the individual column address of the table allowing a maximum of 256 entries.