WAGO 750-8206 User manual

Manual

WAGO-I/O-SYSTEM 750

PFC200 CS 2ETH RS CAN DPS

750-8206(/xxx-xxx)

PLC – PFC200 Controller

Version 1.1.0, valid from SW-Version 02.02.12(03)

2 WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

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: info@wago.com

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: support@wago.com

Every conceivable measure has been taken to ensure the accuracy and completeness of this documentation. However, as errors can never be fully excluded, we always appreciate any information or suggestions for improving the documentation.

E-Mail: documentation@wago.com

We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally protected by trademark or patent.

Manual Version 1.1.0, valid from SW-Version 02.02.12(03)

WAGO-I/O-SYSTEM 750 Table of Contents 3 750-8206 PFC200 CS 2ETH RS CAN DPS

1 Notes about this Documentation ............................................................... 13

1.1 Validity of this Documentation ............................................................... 13

1.2 Copyright ................................................................................................. 13

1.3 Symbols ................................................................................................... 14

1.4 Number Notation ..................................................................................... 16

1.5 Font Conventions .................................................................................... 16

2 Important Notes ......................................................................................... 17

2.1 Legal Bases ............................................................................................. 17

2.1.1 Subject to Changes ............................................................................. 17

2.1.2 Personnel Qualifications ..................................................................... 17

2.1.3 Use of the WAGO-I/O-SYSTEM 750 in Compliance with Underlying

Provisions ........................................................................................... 17

2.1.4 Technical Condition of Specified Devices ......................................... 18

2.2 Safety Advice (Precautions) .................................................................... 19

2.3 Special Use Conditions for ETHERNET Devices .................................. 21

3 Device Description ..................................................................................... 22

3.1 View ........................................................................................................ 25

3.2 Connectors ............................................................................................... 27

3.2.1 Data Contacts/Internal Bus ................................................................. 27

3.2.2 Power Jumper Contacts/Field Supply ................................................ 28

3.2.3 CAGE CLAMP® Connectors ............................................................. 29

3.2.4 Service Interface ................................................................................. 30

3.2.5 Network Connections – X1, X2 ......................................................... 31

3.2.6 RS-232/RS-485 – X3 Communication Connection ........................... 32

3.2.6.1 Operating as an RS-232 Interface .................................................. 33

3.2.6.2 Operating as an RS-485 Interface .................................................. 34

3.2.7 CANopen – X4 Fieldbus Connection ................................................. 35

3.2.8 PROFIBUS DP – X5 Fieldbus Connection ........................................ 37

3.3 Display Elements .................................................................................... 39

3.3.1 Power Supply Indicating Elements .................................................... 39

3.3.2 Fieldbus/System Indicating Elements ................................................ 40

3.3.3 Memory Card Indicating Elements .................................................... 41

3.3.4 Network Indicating Elements ............................................................. 42

3.4 Operating Elements ................................................................................. 43

3.4.1 Operating Mode Switch ...................................................................... 43

3.4.2 Reset Button ....................................................................................... 44

3.5 Slot for Memory Card ............................................................................. 45

3.6 Schematic Diagram ................................................................................. 46

3.7 Technical Data ........................................................................................ 47

3.7.1 Device Data ........................................................................................ 47

3.7.2 System Data ........................................................................................ 47

3.7.3 Power supply ...................................................................................... 47

3.7.4 Clock................................................................................................... 47

3.7.5 Programming ...................................................................................... 48

3.7.6 Internal data bus ................................................................................. 48

3.7.7 ETHERNET ....................................................................................... 48

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3.7.8 CANopen ............................................................................................ 48

3.7.9 PROFIBUS ......................................................................................... 49

3.7.10 Serial interface .................................................................................... 49

3.7.11 Connection Type ................................................................................ 50

3.7.12 Climatic Environmental Conditions ................................................... 50

3.8 Approvals ................................................................................................ 51

3.9 Standards and Guidelines ........................................................................ 51

4 Function Description ................................................................................. 52

4.1 Network Configuration ........................................................................... 52

4.1.1 Operation in Switch Mode .................................................................. 52

4.1.2 Operation with Separate Network Interfaces ..................................... 52

5 Mounting ..................................................................................................... 53

5.1 Installation Position ................................................................................. 53

5.2 Overall Configuration ............................................................................. 53

5.3 Mounting onto Carrier Rail ..................................................................... 55

5.3.1 Carrier Rail Properties ........................................................................ 55

5.3.2 WAGO DIN Rail ................................................................................ 56

5.4 Spacing .................................................................................................... 56

5.5 Mounting Sequence ................................................................................. 57

5.6 Inserting Devices ..................................................................................... 58

5.6.1 Inserting the Fieldbus Coupler/Controller .......................................... 58

5.6.2 Inserting the I/O Module .................................................................... 59

6 Connect Devices ......................................................................................... 60

6.1 Connecting a Conductor to the CAGE CLAMP® ................................... 60

6.2 Power Supply Concept ............................................................................ 61

6.2.1 Supplementary Power Supply Regulations ........................................ 61

7 Commissioning ........................................................................................... 63

7.1 Switching On the Controller ................................................................... 63

7.2 Determining the IP Address of the Host PC ........................................... 64

7.3 Setting an IP Address .............................................................................. 65

7.3.1 Assigning an IP Address using DHCP ............................................... 66

7.3.2 Changing an IP Address using the “CBM” Configuration Tool via the

Serial Interface.................................................................................... 67

7.3.3 Changing an IP Address using “WAGO Ethernet Settings” .............. 70

7.4 Testing the Network Connection ............................................................ 72

7.5 Shutdown/Restart .................................................................................... 73

7.6 Initiating Reset Functions ....................................................................... 74

7.6.1 Warm Start Reset ................................................................................ 74

7.6.2 Cold Start Reset .................................................................................. 74

7.6.3 Software Reset .................................................................................... 74

7.6.4 Setting a Fixed IP Address ................................................................. 74

7.6.5 Factory Reset ...................................................................................... 75

7.7 Users and Passwords ............................................................................... 76

7.7.1 Services and Users .............................................................................. 76

7.7.2 WBM Group ....................................................................................... 77

7.7.3 Linux User Group ............................................................................... 77

7.7.4 SNMP User Group ............................................................................. 77

7.8 Configuration .......................................................................................... 78

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7.8.1 Configuration using Web-Based Management (WBM) ..................... 79

7.8.1.1 WBM User Administration ............................................................ 80

7.8.1.2 General Information about the Page .............................................. 82

7.8.1.3 “Status Information” Page ............................................................. 84

7.8.1.3.1 “Controller Details” Group ....................................................... 84

7.8.1.3.2 “Network Details (Xn)” Group(s) ............................................. 84

7.8.1.4 “CODESYS Configuration” Page ................................................. 85

7.8.1.4.1 “General Configuration” Group ................................................ 85

7.8.1.5 “CODESYS Information” Page ..................................................... 86

7.8.1.5.1 “CODESYS” Group .................................................................. 86

7.8.1.5.2 “Project Details” Group ............................................................ 86

7.8.1.5.3 "Task n" Group(s) ..................................................................... 86

7.8.1.6 “CODESYS WebVisu” Page ......................................................... 88

7.8.1.6.1 “Webserver Configuration” Group ........................................... 88

7.8.1.7 “Configuration of Network Parameters” Page" ............................. 89

7.8.1.7.1 “Hostname” Group .................................................................... 89

7.8.1.7.2 “Domain Name” Group ............................................................ 89

7.8.1.8 “TCP/IP Configuration” Page ........................................................ 90

7.8.1.8.1 “Switch Configuration” Group ................................................. 90

7.8.1.8.2 “IP Address (Xn)” Group(s) ..................................................... 90

7.8.1.8.3 “Default Gateway” Group ......................................................... 91

7.8.1.8.4 “DNS Server” Group ................................................................ 91

7.8.1.9 “Configuration of ETHERNET Parameters” Page ........................ 92

7.8.1.9.1 “Interface Xn” Groups .............................................................. 92

7.8.1.10 “Configuration of Time and Date” Page ....................................... 93

7.8.1.10.1 “Date on Device” Group ........................................................... 93

7.8.1.10.2 “Time on Device” Group .......................................................... 93

7.8.1.10.3 “Time Zone” Group .................................................................. 94

7.8.1.10.4 “TZ String” Group .................................................................... 94

7.8.1.11 “Configuration of the Users for the Web-based Management” Page95

7.8.1.11.1 “Change Password for Selected User” Group ........................... 95

7.8.1.12 “Create Bootable Image” Page ...................................................... 96

7.8.1.12.1 "Create Bootable Image from Active Partition (<Active

Partition>" Group ...................................................................... 96

7.8.1.13 “Configuration of Serial Interface RS232” Page ........................... 97

7.8.1.13.1 “Serial Interface Assigned to” Group ....................................... 97

7.8.1.13.2 “Assign Owner of Serial Interface (Active after Next Controller

Reboot)” Group ......................................................................... 97

7.8.1.14 “Reboot Controller” Page .............................................................. 98

7.8.1.14.1 “Reboot Controller” Group ....................................................... 98

7.8.1.15 “Firmware Back-up” Page ............................................................. 99

7.8.1.16 “Firmware Restore” Page ............................................................ 100

7.8.1.17 “System Partition” Page .............................................................. 101

7.8.1.17.1 “Current Active Partition” Group ........................................... 101

7.8.1.17.2 “Set Inactive Partition Active” Group .................................... 101

7.8.1.18 “Mass Storage” Page ................................................................... 102

7.8.1.18.1 “<Device Name>” Group(s) ................................................... 102

7.8.1.18.2 “<Device Name> - FAT Format” Group(s) ............................ 102

7.8.1.19 “Software Uploads” Page ............................................................ 103

7.8.1.19.1 “Upload New Software” Group .............................................. 103

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7.8.1.19.2 “Activate New Software” Group ............................................ 103

7.8.1.20 “Configuration of Network Services” Page ................................. 104

7.8.1.20.1 “Telnet” Group ........................................................................ 104

7.8.1.20.2 “FTP” Group ........................................................................... 104

7.8.1.20.3 “FTPS” Group ......................................................................... 104

7.8.1.20.4 “HTTP” Group ........................................................................ 104

7.8.1.20.5 “HTTPS” Group ...................................................................... 104

7.8.1.21 “Configuration of NTP Client” Page ........................................... 105

7.8.1.21.1 “NTP Client” Group................................................................ 105

7.8.1.22 “Configuration of the CODESYS Services” Page ....................... 106

7.8.1.22.1 “CODESYS Webserver” Group ............................................. 106

7.8.1.22.2 “Communication” Group ........................................................ 106

7.8.1.22.3 “Port Authentication” Group .................................................. 106

7.8.1.22.4 “Port Authentication Password” Group .................................. 106

7.8.1.23 “SSH Client Settings” Page ......................................................... 107

7.8.1.23.1 “SSH Client” Group ................................................................ 107

7.8.1.24 “TFTP Server” Page .................................................................... 108

7.8.1.24.1 “TFTP Server” Group ............................................................. 108

7.8.1.25 “Configuration of SNMP parameter” Page ................................. 109

7.8.1.25.1 “General SNMP Configuration” Group .................................. 109

7.8.1.26 “Configuration of SNMP Parameter” Page ................................. 110

7.8.1.26.1 “SNMP v1/v2c Manager Configuration” Group .................... 110

7.8.1.26.2 “Actually Configured Trap Receivers” Group(s) ................... 110

7.8.1.26.3 “Trap Receiver n” Group(s) .................................................... 111

7.8.1.26.4 “Add new Trap Receiver” Group ............................................ 111

7.8.1.27 “Configuration of SNMP v3 Users” Page ................................... 112

7.8.1.27.1 “Actually Configured v3 Users” Group(s) .............................. 112

7.8.1.27.2 “v3 User n” Group(s) .............................................................. 112

7.8.1.27.3 “Add New v3 User” Group ..................................................... 113

7.8.1.28 “Diagnostic Information” Page .................................................... 114

7.8.1.29 “Configuration of PROFIBUS DP Slave” Page .......................... 115

7.8.1.29.1 “Set-Slave-Address Service (SSA)” Group ............................ 115

7.8.2 Configuration using a Terminal Program (CBM) ............................ 116

7.8.3 Configuration using “WAGO ETHERNET Settings” ..................... 117

7.8.3.1 Identification Tab ......................................................................... 119

7.8.3.2 Network Tab ................................................................................ 120

7.8.3.3 Protocol Tab ................................................................................. 122

7.8.3.4 Status Tab .................................................................................... 123

8 Run-time System CODESYS 2.3 ............................................................ 124

8.1 Installing the CODESYS 2.3 Programming System ............................. 124

8.2 First Program with CODESYS 2.3 ....................................................... 124

8.2.1 Start the CODESYS Programming System ...................................... 124

8.2.2 Creating a Project and Selecting the Target System ........................ 124

8.2.3 Creating the PLC Configuration ....................................................... 126

8.2.4 Editing the Program Function Block ................................................ 132

8.2.5 Loading and Running the PLC Program in the Fieldbus Controller

(ETHERNET) ................................................................................... 135

8.2.6 Creating a Boot Project .................................................................... 137

8.3 Syntax of Logical Addresses ................................................................. 137

8.4 Creating Tasks ....................................................................................... 138

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8.4.1 Cyclic Tasks ..................................................................................... 141

8.4.2 Freewheeling Tasks .......................................................................... 142

8.5 System Events ....................................................................................... 142

8.5.1 Creating an Event Handler ............................................................... 145

8.6 Process Images ...................................................................................... 147

8.6.1 Process Images for I/O Modules Connected to the Controller ......... 149

8.6.2 Process Image for Slaves Connected to the Fieldbus ....................... 150

8.7 Access to Process Images of the Input and Output Data via CODESYS

2.3 .......................................................................................................... 150

8.8 Addressing Example ............................................................................. 152

8.9 Internal Data Bus Synchronization ....................................................... 153

8.9.1 Case 1: CODESYS Task Interval Set Smaller than the I/O Module

Cycle ................................................................................................. 153

8.9.2 Case 2: CODESYS Task Interval Smaller than Twice the Internal

Data Bus Cycle ................................................................................. 155

8.9.3 Case 3: CODESYS Task Interval Greater than Twice the Internal Data

Buc Cycle ......................................................................................... 156

8.9.4 Case 4: CODESYS Task Interval Greater than 10 ms ..................... 157

8.9.5 Internal Data Bus Configuration ...................................................... 158

8.9.5.1 Effect of Update Mode on CODESYS Tasks .............................. 159

8.9.5.1.1 Asynchronous Update Mode ................................................... 159

8.9.5.1.2 Synchronous Update Mode ..................................................... 160

8.10 Memory Settings in CODESYS ............................................................ 160

8.10.1 Program Memory.............................................................................. 160

8.10.2 Data Memory and Function Block Limitation ................................. 161

8.10.3 Remanent Memory ........................................................................... 162

8.11 CODESYS Visualization ...................................................................... 163

8.11.1 Limits of CODESYS Visualization .................................................. 166

8.11.2 Eliminating Errors in CODESYS Web Visualization ...................... 168

8.11.3 FAQs about CODESYS Web Visualization..................................... 169

9 MODBUS .................................................................................................. 171

9.1 General .................................................................................................. 171

9.2 Features ................................................................................................. 171

9.3 Configuration ........................................................................................ 172

9.3.1 MODBUS Settings ........................................................................... 173

9.3.2 MODBUS TCP Settings ................................................................... 174

9.3.3 MODBUS UDP Settings .................................................................. 174

9.3.4 MODBUS RTU Settings .................................................................. 175

9.4 Data Exchange ...................................................................................... 177

9.4.1 Process Image ................................................................................... 178

9.4.2 Flag Area .......................................................................................... 179

9.4.3 MODBUS Registers ......................................................................... 180

9.4.4 MODBUS Mapping.......................................................................... 180

9.4.4.1 MODBUS Mapping for Write Bit Services FC1, FC2 ................ 180

9.4.4.2 MODBUS Mapping for Write Bit Services FC5, FC15 .............. 181

9.4.4.3 MODBUS Mapping for Read Register Services FC3, FC4, FC23182

9.4.4.4 MODBUS Mapping for Write Register Services FC6, FC16, FC22,

FC23 ............................................................................................ 184

9.5 WAGO MODBUS Register .................................................................. 186

9.5.1 Process Image Properties .................................................................. 187

Manual Version 1.1.0, valid from SW-Version 02.02.12(03)

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9.5.1.1 Register 0x1022 – Number of Registers in the MODBUS Input

Process Image .............................................................................. 187

9.5.1.2 Register 0x1023 – Number of Registers in the MODBUS Output

Process Image .............................................................................. 187

9.5.1.3 Register 0x1024 – Number of Bits in the MODBUS Input Process

Image ........................................................................................... 187

9.5.1.4 Register 0x1025 – Number of Bits in the MODBUS Output

Process Image .............................................................................. 187

9.5.2 Network Configuration ..................................................................... 188

9.5.2.1 Register 0x1028 – IP Configuration ............................................ 188

9.5.2.2 Register 0x102A – Number of Established TCP Connections .... 188

9.5.2.3 Register 0x1030 – MODBUS TCP Socket Timeout ................... 188

9.5.2.4 Register 0x1031 – MAC Address for ETHERNET-Interface 1

(eth0) ............................................................................................ 188

9.5.2.5 Register 0x1037 - MODBUS TCP Response Delay ................... 188

9.5.3 PLC Status Register .......................................................................... 189

9.5.4 MODBUS Watchdog........................................................................ 189

9.5.4.1 Register 0x1100 – Watchdog Command ..................................... 189

9.5.4.2 Register 0x1101 – Watchdog Status ............................................ 191

9.5.4.3 Register 0x1102 – Watchdog Timeout ........................................ 191

9.5.4.4 Register 0x1103 – Watchdog Config .......................................... 192

9.5.5 MODBUS Constants Register .......................................................... 192

9.5.6 Electronic Nameplate ....................................................................... 193

9.5.6.1 Register 0x2010 – Revision (Firmware Index) ........................... 193

9.5.6.2 Register 0x2011 – Series Designator ........................................... 193

9.5.6.3 Register 0x2012 – Device ID ...................................................... 193

9.5.6.4 Register 0x2013 – Major Firmware Version ............................... 193

9.5.6.5 Register 0x2014 – Minor Firmware Version ............................... 193

9.5.6.6 Register 0x2015 – MBS Version ................................................. 193

9.6 Diagnostics ............................................................................................ 194

9.6.1 Diagnostics for the MODBUS Master ............................................. 194

9.6.2 Diagnostics for the Runtime System ................................................ 194

9.6.3 Diagnostics for the Error Server ....................................................... 194

10 CANopen Master and Slave .................................................................... 197

10.1 Object Directory .................................................................................... 197

10.2 Communications Profile ........................................................................ 197

10.2.1 Master Configuration........................................................................ 201

10.3 Data Exchange ...................................................................................... 202

10.3.1 Controller Communication Objects .................................................. 202

10.3.2 Fieldbus-Specific Addressing ........................................................... 203

10.3.3 Examples for the Definition of PFC Fieldbus Variables .................. 207

10.3.3.1 CODESYS Access to PFC Variables .......................................... 207

10.3.3.2 Maximum Indices ........................................................................ 207

10.3.4 CANopen Master Control Configuration ......................................... 209

10.3.4.1 Selecting the Master .................................................................... 209

10.3.4.2 Setting the Master Parameters ..................................................... 210

10.3.4.3 Adding Slaves .............................................................................. 212

10.3.4.4 Configuring the Slave PDOs ....................................................... 218

10.3.4.5 Configuring the Service Data Objects ......................................... 221

10.3.5 CANopen Slave Control Configuration ........................................... 224

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10.3.5.1 CANopen Variables Configuration ............................................. 225

10.3.5.2 Configuring of CANopen Parameters ......................................... 226

10.4 Fieldbus Coupler Diagnostics ............................................................... 227

10.4.1 DiagGetBusState() and DiagGetState() ............................................ 227

10.4.2 Creating Diagnostics 7 in CODESYS 2.3 ........................................ 228

10.4.3 Calling Up the Diagnostics Function Block ..................................... 230

10.4.4 Executing a Bus Diagnosis using DiagGetBusState() ...................... 231

10.4.5 Performing Subscriber Diagnostics using DiagGetState() ............... 233

10.4.6 Evaluating the CANopen Diagnosis (Emergency Messages) .......... 235

10.5 Data Exchange between Simple CAN Subscribers and PFC200 in the

CANopen Network ................................................................................ 237

10.6 Data Exchange between CAN Subscribers and the PFC200 in a CAN

Layer2 Network .................................................................................... 239

11 PROFIBUS DP V1 Slave Interface ........................................................ 240

11.1 Startup ................................................................................................... 240

11.1.1 GSD File ........................................................................................... 240

11.1.2 Configuration .................................................................................... 240

11.1.2.1 Information about the Fieldbus Variable Process Image ............. 241

11.1.2.2 Definition of Specified Configuration ......................................... 243

11.1.2.3 Definition of Actual Configuration ............................................. 243

11.1.3 Parameterization ............................................................................... 247

11.1.3.1 Parameterization via CODESYS ................................................. 248

11.1.3.2 Parameterization Using the GSD File .......................................... 250

11.1.4 Advanced Configuration Check (Startup with Specified Structure Not

Identical to Actual Structure) ........................................................... 252

11.1.4.1 Configuration Error Diagnostics .................................................. 252

11.2 PROFIBUS Station Diagnostics ........................................................... 253

11.2.1 Structure of Station Diagnostics ....................................................... 255

11.2.1.1 Station Status 1 … 3 .................................................................... 256

11.2.1.1.1 Station Status 1 (Byte 0) ......................................................... 257

11.2.1.1.2 Station Status 2 (Byte 1) ......................................................... 259

11.2.1.1.3 Station Status 3 (Byte 2) ......................................................... 259

11.2.1.2 DP Master Address ...................................................................... 260

11.2.1.3 Manufacturer ID .......................................................................... 260

11.2.2 WAGO System Diagnostics ............................................................. 260

11.2.3 ID-Based Diagnostics ....................................................................... 263

11.2.4 Module Status ................................................................................... 264

11.2.5 Channel-Specific Diagnostics .......................................................... 265

11.2.5.1 I/O Module Error Types .............................................................. 266

11.2.6 Status Messages ................................................................................ 267

11.2.7 Alarm Messages ............................................................................... 269

11.3 Setting the Station Address via the Fieldbus (SSA) .............................. 271

11.4 Advanced DP-V1 Functions ................................................................. 271

11.4.1 Identification and Maintenance Functions (I&M) ............................ 271

11.4.2 I&M0 Data Set ................................................................................. 272

11.4.3 I&M1 Data Set ................................................................................. 273

11.4.4 I&M2 Data Set ................................................................................. 273

11.4.5 I&M3 Data Set ................................................................................. 273

11.4.6 I&M4 Data Set ................................................................................. 274

11.5 PROFIBUS-Specific CODESYS Functions ......................................... 275

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12 Diagnostics ................................................................................................ 276

12.1 Operating and Status Messages ............................................................. 276

12.1.1 Power Supply Indicating Elements .................................................. 276

12.1.2 Fieldbus/System Indicating Elements .............................................. 277

12.2 Diagnostics Messages (I/O LED) .......................................................... 282

12.2.1 Flashing Sequence ............................................................................ 282

12.2.2 Example of a Diagnostics Message Indicated by a Blink Code ....... 284

12.2.3 Meaning of Blink Codes and Procedures for Troubleshooting ........ 285

13 Service ....................................................................................................... 291

13.1 Inserting and Removing the Memory Card ........................................... 291

13.1.1 Inserting the Memory Card .............................................................. 291

13.1.2 Removing the Memory Card ............................................................ 291

14 Removal .................................................................................................... 293

14.1 Removing Devices ................................................................................ 293

14.1.1 Removing the Fieldbus Coupler/Controller ..................................... 293

14.1.2 Removing the I/O Module ................................................................ 294

15 Appendix ................................................................................................... 295

15.1 Structure of Process Data for the I/O Modules ..................................... 295

15.1.1 Digital Input Modules....................................................................... 296

15.1.1.1 1 Channel Digital Input Module with Diagnostics ...................... 296

15.1.1.2 2 Channel Digital Input Modules ................................................ 296

15.1.1.3 2 Channel Digital Input Module with Diagnostics ...................... 296

15.1.1.4 2 Channel Digital Input Module with Diagnostics and Output

Process Data ................................................................................. 297

15.1.1.5 4 Channel Digital Input Modules ................................................ 297

15.1.1.6 8 Channel Digital Input Modules ................................................ 297

15.1.1.7 8 Channel Digital Input Module PTC with Diagnostics and Output

Process Data ................................................................................. 298

15.1.1.8 16 Channel Digital Input Modules .............................................. 298

15.1.2 Digital Output Modules .................................................................... 299

15.1.2.1 1 Channel Digital Output Module with Input Process Data ........ 299

15.1.2.2 2 Channel Digital Output Modules .............................................. 299

15.1.2.3 2 Channel Digital Input Modules with Diagnostics and Input

Process Data ................................................................................. 300

15.1.2.4 4 Channel Digital Output Modules .............................................. 301

15.1.2.5 4 Channel Digital Output Modules with Diagnostics and Input

Process Data ................................................................................. 301

15.1.2.6 8 Channel Digital Output Module ............................................... 301

15.1.2.7 8 Channel Digital Output Modules with Diagnostics and Input

Process Data ................................................................................. 302

15.1.2.8 16 Channel Digital Output Modules ............................................ 302

15.1.2.9 8 Channel Digital Input/Output Modules .................................... 303

15.1.3 Analog Input Modules ...................................................................... 304

15.1.3.1 1 Channel Analog Input Modules ................................................ 304

15.1.3.2 2 Channel Analog Input Modules ................................................ 304

15.1.3.3 4 Channel Analog Input Modules ................................................ 305

15.1.3.4 3-Phase Power Measurement Module ......................................... 306

15.1.3.5 8 Channel Analog Input Modules ................................................ 306

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15.1.4 Analog Output Modules ................................................................... 307

15.1.4.1 2 Channel Analog Output Modules ............................................. 307

15.1.4.2 4 Channel Analog Output Modules ............................................. 307

15.1.5 Specialty Modules ............................................................................ 308

15.1.5.1 Counter Modules ......................................................................... 308

15.1.5.2 Pulse Width Modules ................................................................... 310

15.1.5.3 Serial Interface Modules with alternative Data Format ............... 310

15.1.5.4 Serial Interface Modules with Standard Data Format ................. 311

15.1.5.5 Data Exchange Module ................................................................ 311

15.1.5.6 SSI Transmitter Interface Modules .............................................. 311

15.1.5.7 Incremental Encoder Interface Modules ...................................... 312

15.1.5.8 DC-Drive Controller .................................................................... 314

15.1.5.9 Stepper Controller ........................................................................ 315

15.1.5.10 RTC Module ................................................................................ 316

15.1.5.11 DALI/DSI Master Module ........................................................... 316

15.1.5.12 DALI Multi-Master Module ........................................................ 317

15.1.5.13 LON® FTT Module ...................................................................... 319

15.1.5.14 EnOcean Radio Receiver ............................................................. 319

15.1.5.15 MP Bus Master Module ............................................................... 319

15.1.5.16 Bluetooth® RF-Transceiver .......................................................... 320

15.1.5.17 Vibration Velocity/Bearing Condition Monitoring VIB I/O ....... 321

15.1.5.18 KNX/EIB/TP1 Module ................................................................ 321

15.1.5.19 AS-interface Master Module ....................................................... 322

15.1.6 System Modules ............................................................................... 324

15.1.6.1 System Modules with Diagnostics ............................................... 324

15.1.6.2 Binary Space Module .................................................................. 324

15.2 CODESYS Libraries ............................................................................. 325

15.2.1 General Libraries .............................................................................. 325

15.2.1.1 CODESYS System Libraries ....................................................... 325

15.2.1.2 SysLibCom.lib ............................................................................. 326

15.2.1.3 SysLibFile.lib ............................................................................... 326

15.2.1.4 SysLibFileAsync.lib .................................................................... 327

15.2.1.5 SysLibRtc.lib ............................................................................... 327

15.2.1.6 BusDiag.lib .................................................................................. 328

15.2.1.7 mod_com.lib ................................................................................ 328

15.2.1.8 SerComm.lib ................................................................................ 328

15.2.1.9 WagoConfigToolLIB.lib ............................................................. 329

15.2.1.10 WagoLibCpuUsage.lib ................................................................ 344

15.2.1.11 WagoLibDiagnosticIDs.lib .......................................................... 344

15.2.1.12 WagoLibLed.lib ........................................................................... 345

15.2.1.13 WagoLibNetSnmp.lib .................................................................. 345

15.2.1.14 WagoLibNetSnmpManager.lib .................................................... 345

15.2.1.15 WagoLibSSL.lib .......................................................................... 346

15.2.1.16 WagoLibTerminalDiag.lib ........................................................... 346

15.2.2 Libraries for a CANopen and CANLayer2 Link .............................. 347

15.2.2.1 WagoCANLayer2_02.lib ............................................................. 347

15.2.2.2 WagoCANopen_02.lib ................................................................ 347

15.2.3 Libraries for a PROFIBUS Link....................................................... 348

15.2.3.1 WAGO_DPS_01.lib .................................................................... 348

List of Figures .................................................................................................... 349

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12 Table of Contents WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

List of Tables ...................................................................................................... 352

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WAGO-I/O-SYSTEM 750 Notes about this Documentation 13

Table 1: Variants

Item Number/Variant

Designation

750-8206

PFC200 CS 2ETH RS CAN DPS

750-8206/025-000

PFC200 CS 2ETH RS CAN DPS/T

750-8206 PFC200 CS 2ETH RS CAN DPS

1 Notes about this Documentation

Always retain this documentation!

This documentation is part of the product. Therefore, retain the documentation during the entire service life of the product. Pass on the documentation to any subsequent user. In addition, ensure that any supplement to this documentation is included, if necessary.

1.1 Validity of this Documentation

This documentation is only applicable to the controller “PFC200 CS 2ETH RS CAN DPS” (750-8206) and the variants listed in the table below.

Documentation Validity for Variants

Unless otherwise indicated, the information given in this documentation applies to listed variants.

This documentation is only applicable from SW-Version 02.02.12(03).

1.2 Copyright

This Manual, including all figures and illustrations, is copyright-protected. Any further use of this Manual by third parties that violate pertinent copyright provisions is prohibited. Reproduction, translation, electronic and phototechnical filing/archiving (e.g., photocopying) as well as any amendments require the written consent of WAGO Kontakttechnik GmbH & Co. KG, Minden, Germany. Non-observance will involve the right to assert damage claims.

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14 Notes about this Documentation WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

1.3 Symbols

Personal Injury!

Indicates a high-risk, imminently hazardous situation which, if not avoided, will result in death or serious injury.

Personal Injury Caused by Electric Current!

Indicates a high-risk, imminently hazardous situation which, if not avoided, will result in death or serious injury.

Personal Injury!

Indicates a moderate-risk, potentially hazardous situation which, if not avoided, could result in death or serious injury.

Personal Injury!

Indicates a low-risk, potentially hazardous situation which, if not avoided, may result in minor or moderate injury.

Damage to Property!

Indicates a potentially hazardous situation which, if not avoided, may result in damage to property.

Damage to Property Caused by Electrostatic Discharge (ESD)!

Indicates a potentially hazardous situation which, if not avoided, may result in damage to property.

Important Note!

Indicates a potential malfunction which, if not avoided, however, will not result in damage to property.

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WAGO-I/O-SYSTEM 750 Notes about this Documentation 15 750-8206 PFC200 CS 2ETH RS CAN DPS

Additional Information:

Refers to additional information which is not an integral part of this documentation (e.g., the Internet).

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16 Notes about this Documentation WAGO-I/O-SYSTEM 750

Table 2: Number Notation

Number code

Example

Note

Decimal

100

Normal notation

Hexadecimal

0x64

C notation

Binary

'100' '0110.0100'

In quotation marks, nibble separated with dots (.)

Table 3: Font Conventions

Font type

Indicates

italic

Names of paths and data files are marked in italic-type. e.g.: C:\Programme\WAGO-I/O-CHECK

Menu items are marked in bold letters. e.g.: Save

A greater-than sign between two names means the selection of a

e.g.: File > New

Input

Designation of input or optional fields are marked in bold letters, e.g.: Start of measurement range

“Value”

Input or selective values are marked in inverted commas. e.g.: Enter the value “4 mA” under Start of measurement range.

[Button]

Pushbuttons in dialog boxes are marked with bold letters in square

e.g.: [Input]

[Key]

Keys are marked with bold letters in square brackets. e.g.: [F5]

750-8206 PFC200 CS 2ETH RS CAN DPS

1.4 Number Notation

1.5 Font Conventions

menu item from a menu.

brackets.

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WAGO-I/O-SYSTEM 750 Important Notes 17 750-8206 PFC200 CS 2ETH RS CAN DPS

2 Important Notes

This section includes an overall summary of the most important safety requirements and notes that are mentioned in each individual section. To protect your health and prevent damage to devices as well, it is imperative to read and carefully follow the safety guidelines.

2.1 Legal Bases

2.1.1 Subject to Changes

WAGO Kontakttechnik GmbH & Co. KG reserves the right to provide for any alterations or modifications that serve to increase the efficiency of technical progress. WAGO Kontakttechnik GmbH & Co. KG owns all rights arising from the granting of patents or from the legal protection of utility patents. Third-party products are always mentioned without any reference to patent rights. Thus, the existence of such rights cannot be excluded.

2.1.2 Personnel Qualifications

All sequences implemented on WAGO-I/O-SYSTEM 750 devices may only be carried out by electrical specialists with sufficient knowledge in automation. The specialists must be familiar with the current norms and guidelines for the devices and automated environments.

All changes to the coupler or controller should always be carried out by qualified personnel with sufficient skills in PLC programming.

2.1.3 Use of the WAGO-I/O-SYSTEM 750 in Compliance with Underlying Provisions

Fieldbus couplers, fieldbus controllers and I/O modules found in the modular WAGO-I/O-SYSTEM 750 receive digital and analog signals from sensors and transmit them to actuators or higher-level control systems. Using programmable controllers, the signals can also be (pre-) processed.

The devices have been developed for use in an environment that meets the IP20 protection class criteria. Protection against finger injury and solid impurities up to

12.5 mm diameter is assured; protection against water damage is not ensured. Unless otherwise specified, operation of the devices in wet and dusty environments is prohibited.

Operating the WAGO-I/O-SYSTEM 750 devices in home applications without further measures is only permitted if they meet the emission limits (emissions of interference) according to EN 61000-6-3. You will find the relevant information in the section “Device Description” > “Standards and Guidelines” in the manual for the used fieldbus coupler/controller.

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18 Important Notes WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

Appropriate housing (per 94/9/EG) is required when operating the WAGO-I/OSYSTEM 750 in hazardous environments. Please note that a prototype test certificate must be obtained that confirms the correct installation of the system in a housing or switch cabinet.

2.1.4 Technical Condition of Specified Devices

The devices to be supplied ex works are equipped with hardware and software configurations, which meet the individual application requirements. WAGO Kontakttechnik GmbH & Co. KG will be exempted from any liability in case of changes in hardware or software as well as to non-compliant usage of devices.

Please send your request for modified and new hardware or software configurations directly to WAGO Kontakttechnik GmbH & Co. KG.

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WAGO-I/O-SYSTEM 750 Important Notes 19 750-8206 PFC200 CS 2ETH RS CAN DPS

2.2 Safety Advice (Precautions)

For installing and operating purposes of the relevant device to your system the following safety precautions shall be observed:

Do not work on devices while energized!

All power sources to the device shall be switched off prior to performing any installation, repair or maintenance work.

Install the device only in appropriate housings, cabinets or in electrical operation rooms!

The WAGO-I/O-SYSTEM 750 and its components are an open system. As such, install the system and its components exclusively in appropriate housings, cabinets or in electrical operation rooms. Allow access to such equipment and fixtures to authorized, qualified staff only by means of specific keys or tools.

Do not use in telecommunication circuits!

Only use devices equipped with ETHERNET or RJ-45 connectors in LANs. Never connect these devices with telecommunication networks.

Replace defective or damaged devices!

Replace defective or damaged device/module (e.g., in the event of deformed contacts), since the long-term functionality of device/module involved can no longer be ensured.

Protect the components against materials having seeping and insulating properties!

The components are not resistant to materials having seeping and insulating properties such as: aerosols, silicones and triglycerides (found in some hand creams). If you cannot exclude that such materials will appear in the component environment, then install the components in an enclosure being resistant to the above-mentioned materials. Clean tools and materials are imperative for handling devices/modules.

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20 Important Notes WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

Clean only with permitted materials!

Clean soiled contacts using oil-free compressed air or with ethyl alcohol and leather cloths.

Do not use any contact spray!

Do not use any contact spray. The spray may impair contact area functionality in connection with contamination.

Do not reverse the polarity of connection lines!

Avoid reverse polarity of data and power supply lines, as this may damage the devices involved.

Avoid electrostatic discharge!

The devices are equipped with electronic components that may be destroyed by electrostatic discharge when touched. Please observe the safety precautions against electrostatic discharge per DIN EN 61340-5-1/-3. When handling the devices, please ensure that environmental factors (personnel, work space and packaging) are properly grounded.

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WAGO-I/O-SYSTEM 750 Important Notes 21 750-8206 PFC200 CS 2ETH RS CAN DPS

2.3 Special Use Conditions for ETHERNET Devices

If not otherwise specified, ETHERNET devices are intended for use on local networks. Please note the following when using ETHERNET devices in your system:

• Do not connect control components and control networks to an open

network such as the Internet or an office network. WAGO recommends putting control components and control networks behind a firewall.

• Limit physical and electronic access to all automation components to

authorized personnel only.

• Change the default passwords before first use! This will reduce the risk of

unauthorized access to your system.

• Regularly change the passwords used! This will reduce the risk of

unauthorized access to your system.

• If remote access to control components and control networks is required,

use a Virtual Private Network (VPN).

• Regularly perform threat analyses. You can check whether the measures

taken meet your security requirements.

• Use “defense-in-depth” mechanisms in your system's security configuration

to restrict the access to and control of individual products and networks.

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22 Device Description WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

3 Device Description

The controller 750-8206(PFC200 CS 2ETH RS CAN DPS) is an automation device that can perform control tasks of a PLC. It is suitable for mounting on a DIN rail and stands out on account of its various interfaces.

This controller can be used for applications in mechanical and systems engineering, in the processing industry and in building technology.

You can connect all available I/O modules of the WAGO-I/O-SYSTEM 750 (750 and 753 Series) to the controller, enabling it to internally process analog and digital signals from the automation environment, or to supply these signals to other devices via one of the available interfaces.

Automation tasks can be executed in all IEC 61131-3-compatible languages with the programming system CODESYS 2.3 (WAGO-I/O-PRO). The implementation of the CODESYS task processing is optimized with real-time extensions in order to provide maximal performance for automation tasks. For visualization, Web visualization is also available in addition to the development environment.

The controller provides a physical 256 Mbyte program memory (flash), a 256 Mbyte data memory (RAM) and a 128 kbyte remanent memory (retain, NVRAM). The memory capacities may not be able to be utilized fully on account of internal administration.

The file system on the internal memory provides 64 Mbyte for applications. Files may also be stored on a removable memory card, or on an internal RAM disk.

The controller provides a 16 Mbyte program memory, a 64 Mbyte data memory and a 128 kbyte remanent memory (retain and flag variables) in an integrated NVRAM for IEC-61131-3 programming on CODESYS applications.

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Two ETHERNET interfaces and an integrated, configurable switch enable line topology wiring for:

• In line topology with a common MAC address and IP address for both

interfaces.

• Two separate networks with a common MAC address and an IP address for

each interface.

Both of these interfaces support:

• 10Base-T / 100Base-TX

• Full/Half duplex

• Autonegotiation

• Auto-MDI(X)

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WAGO-I/O-SYSTEM 750 Device Description 23 750-8206 PFC200 CS 2ETH RS CAN DPS

The following fieldbus circuits are implemented for exchange of process data:

• MODBUS TCP

• MODBUS UDP

• MODBUS RTU (via RS-232 or RS-485)

• CANopen Master/Slave

• PROFIBUS Slave

In the controller, all input signals from the sensors are combined. After connecting the controller, all of the I/O modules on the bus node are detected and a local process image is created from these. Analog and specialty module data is sent via words and/or bytes; digital data is sent bit by bit.

No direct access from fieldbus to the process image for I/O modules!

Any data that is required from the I/O module process image must be explicitly mapped in the CODESYS program to the data in the fieldbus process image and vice versa! Direct access is not possible!

Fieldbus configuration can be performed using the CODESYS 2.3 controller configuration.

A Web-based management system (WBM) is also available as a configuration aid. This system includes various dynamic HTML pages from which, among other things, information about configuration and the status of the controller can be called up. The WBM is already stored in the device and is presented and operated using an Internet browser. You can also save your own HTML pages in the implemented file system, or call up programs directly.

In the controller's initial state, the installed firmware is based on Linux®, with special real-time extensions of the RT-Preempt patch. In addition, the following application programs are also installed on the controller, along with a number of different auxiliary programs:

• a SNMP server/client

• a Telnet server

• a FTP, FTPS server

• a SSH server/client

• a Web server

• a NTP client

• a BootP and DHCP daemon

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24 Device Description WAGO-I/O-SYSTEM 750 750-8206 PFC200 CS 2ETH RS CAN DPS

• a CODESYS Runtime Environment

Based on IEC-61131-3 programming, data processing takes place on site in the controller. The logical process results can be output directly to the actuators or transmitted via a connected fieldbus to the higher level controller.

Memory card is not included in the scope of delivery!

Note, the controller is delivered without memory card. To use a memory card, you must order one separately. The controller can also be operated without memory card expansion, the use of a memory card is optional.

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Only use recommended memory cards!

Use only the SD memory card available from WAGO (item No. 758-879/000-

001) as it is suitable for industrial applications subjected to environmental extremes and was developed for use in the controller. Compatibility with other commercially available storage media cannot be guaranteed.

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WAGO-I/O-SYSTEM 750 Device Description 25

Table 4:Legend for figure “Device view”

Item

Description

See section

Marking Options (Mini-WSB)

---

“Indicating elements” >

supply”

“Connections” > “Data contacts/Internal data bus”

CAGE CLAMP® Connections for Power Supply

“Connections” > “CAGE CLAMP® connections”

Slot for memory card

“Memory card slot”

Power contacts for power supply of down-circuit I/O modules

“Connections” > “Power contacts/ Field-side supply”

“Mounting” > “Inserting and Removing Device”

“Connections” > “Service interface”

“Operating elements” > “Mode selector switch”

“Connections” > “Network

X1, X2”

750-8206 PFC200 CS 2ETH RS CAN DPS

3.1 View

Figure 1: View of device

2 LED Indicators – Power Supply

“Indicating element power

3 Data contacts

7 Releasing strap

8 Service Interface (behind the flap)

9 Mode selector switch

10 ETHERNET Connections

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connections ETHERNET –

26 Device Description WAGO-I/O-SYSTEM 750

“Mounting” > “Inserting and Removing Device”

“Connections” >

Fieldbus Connection”

“Connections” > “CANopen – X4 Fieldbus Connection”

“Connections” >

232/RS-485 – X3”

“Indicating elements” >

Fieldbus/System”

“Operating elements” > “Reset button”

750-8206 PFC200 CS 2ETH RS CAN DPS

11 Safe Locking Feature

12 Fieldbus Connection – PROFIBUS

13 Fieldbus Connection – CANopen

14 Serial interface

15 LED Indicators – System

16 Reset button (in hole)

“PROFIBUS DP – X5

“Communication port RS-

“Indicating elements

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WAGO-I/O-SYSTEM 750 Device Description 27 750-8206 PFC200 CS 2ETH RS CAN DPS

3.2 Connectors

3.2.1 Data Contacts/Internal Bus

Do not place the I/O modules on the gold spring contacts!

Do not place the I/O modules on the gold spring contacts in order to avoid soiling or scratching!

Ensure that the environment is well grounded!

The devices are equipped with electronic components that may be destroyed by electrostatic discharge. When handling the devices, ensure that the environment (persons, workplace and packing) is well grounded. Avoid touching conductive components, e.g. data contacts.

Communication between the controller and the I/O modules and system power supply for the I/O modules is provided via the internal data bus, which consists of 6 data contacts designed as self-cleaning gold spring contacts.

Figure 2: Data contacts

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28 Device Description WAGO-I/O-SYSTEM 750

Table 5: Legend for Figure “Power Jumper Contacts”

Contact

Type

Function

Potential transmission (UV)

for field supply

Potential transmission (0 V)

for field supply

Potential transmission (ground)

for field supply

750-8206 PFC200 CS 2ETH RS CAN DPS

3.2.2 Power Jumper Contacts/Field Supply

Risk of injury due to sharp-edged blade contacts!

The blade contacts are sharp-edged. Handle the I/O module carefully to prevent injury.

The controller 750-8206is equipped with 3 self-cleaning power contacts for transferring of the field-side power supply to down-circuit I/O modules. These contacts are designed as spring contacts.

Figure 3: Power Jumper Contacts

1 Spring contact

2 Spring contact

3 Spring contact

Do not exceed maximum current via power jumper contacts!

The maximum current to flow through the power jumper contacts is 10 A. Greater currents can damage the contacts. When configuring your system, ensure that this current is not exceeded. If exceeded, insert an additional supply module.

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WAGO-I/O-SYSTEM 750 Device Description 29

Table 6: Legend for figure “CAGE CLAMP® connections”

Contact

Description

24 V

System power supply voltage +24 V

Field-side power supply voltage UV

Field-side power supply voltage 0 V

Ground

Field-side power supply voltage, ground

0 V

System power supply voltage 0 V

Field-side power supply voltage UV

Field-side power supply voltage 0 V

Ground

Field-side power supply voltage, ground

750-8206 PFC200 CS 2ETH RS CAN DPS

3.2.3 CAGE CLAMP® Connectors

Figure 4: CAGE CLAMP

connections

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Observe supplementary power supply regulations for use in shipbuilding!

Observe supplementary power supply regulations for shipbuilding and the supply voltage in Section “Connect Devices” > … > “Supplementary Power Supply Regulations”!

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30 Device Description WAGO-I/O-SYSTEM 750

Table 7: Service interface

Number

Description

Open flap

Service interface

750-8206 PFC200 CS 2ETH RS CAN DPS

3.2.4 Service Interface

The service interface is located behind the flap.

The Service interface is used for communication with WAGO-I/O-CHECK and WAGO-I/O-PRO and for firmware download.

Figure 5: Service interface, (closed and open flap)

Device must be de-energized!

To prevent damage to the device, unplug and plug in the communication cable only when the device is de-energized!

The connection to the 4-pin header under the cover flap can be realized via the communication cables with the item numbers750-920 and 750-923 or via the WAGO radio adapter with the item number 750-921.

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