Page 1
Modular I/O-System
Programmable Fieldbus
Controller for Telecontrol
Applications
750-872/020-000
Manual
Technical description,
installation and
configuration
Version 1.0.0
Page 2
ii • General
Copyright © 2007 by WAGO Kontakttechnik GmbH & Co. KG
All rights reserved.
WAGO Kontakttechnik GmbH & Co. KG
Hansastraße 27
D-32423 Minden
Phone: +49 (0) 571/8 87 – 0
Fax: +49 (0) 571/8 87 – 1 69
E-Mail: 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 correctness and
completeness of this documentation. However, as errors can never be fully
excluded we would appreciate any information or ideas at any time.
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 trademark or patent protected.
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 3
Table of Contents • iii
TABLE OF CONTENTS
1 Important Notes ..........................................................................................1
1.1 Legal Principles........................................................................................1
1.1.1 Copyright.............................................................................................1
1.1.2 Personnel Qualification .......................................................................1
1.1.3 Conforming Use of Series 750 ............................................................2
1.1.4 Technical Condition of the Devices ....................................................2
1.2 Standards and Regulations for Operating the 750 Series.........................2
1.3 Symbols....................................................................................................3
1.4 Safety Information....................................................................................4
1.5 Font Conventions .....................................................................................5
1.6 Number Notation......................................................................................5
1.7 Scope........................................................................................................6
1.8 Important Comments for Starting up........................................................6
1.9 Abbreviation.............................................................................................6
2 The WAGO-I/O-SYSTEM 750..................................................................7
2.1 System Description...................................................................................7
2.2 Technical Data..........................................................................................8
2.3 Manufacturing Number..........................................................................14
2.4 Component Update.................................................................................15
2.5 Storage, Assembly and Transport ..........................................................15
2.6 Mechanical Setup...................................................................................16
2.6.1 Installation Position...........................................................................16
2.6.2 Total Expansion.................................................................................16
2.6.3 Assembly onto Carrier Rail...............................................................17
2.6.3.1 Carrier Rail Properties ..................................................................17
2.6.3.2 WAGO DIN Rail ..........................................................................18
2.6.4 Spacing ..............................................................................................18
2.6.5 Plugging and Removal of the Components.......................................19
2.6.6 Assembly Sequence...........................................................................20
2.6.7 Internal Bus/Data Contacts................................................................21
2.6.8 Power Contacts..................................................................................22
2.6.9 Wire Connection................................................................................23
2.7 Power Supply .........................................................................................24
2.7.1 Isolation.............................................................................................24
2.7.2 System Supply...................................................................................25
2.7.2.1 Connection....................................................................................25
2.7.2.2 Alignment .....................................................................................26
2.7.3 Field Supply.......................................................................................28
2.7.3.1 Connection....................................................................................28
2.7.3.2 Fusing............................................................................................29
2.7.4 Supplementary Power Supply Regulations .......................................32
2.7.5 Supply Example.................................................................................33
2.7.6 Power Supply Unit.............................................................................34
2.8 Grounding...............................................................................................35
2.8.1 Grounding the DIN Rail ....................................................................35
2.8.1.1 Framework Assembly...................................................................35
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ETHERNET TCP/IP
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iv • Table of Contents
2.8.1.2 Insulated Assembly.......................................................................35
2.8.2 Grounding Function...........................................................................36
2.8.3 Grounding Protection ........................................................................37
2.9 Shielding (Screening).............................................................................38
2.9.1 General...............................................................................................38
2.9.2 Bus Conductors..................................................................................38
2.9.3 Signal Conductors..............................................................................38
2.9.4 WAGO Shield (Screen) Connecting System.....................................39
2.10 Assembly Guidelines/Standards.............................................................39
3 Fieldbus Controller.....................................................................................7
3.1 Fieldbus Controller 750-872/020-000....................................................40
3.1.1 Description.........................................................................................40
3.1.2 Compatibility.....................................................................................41
3.1.3 Hardware............................................................................................42
3.1.3.1 View..............................................................................................42
3.1.3.2 Device Supply...............................................................................43
3.1.3.3 Fieldbus Connection .....................................................................44
3.1.3.4 Display Elements ..........................................................................44
3.1.3.5 Configuration and Programming Interface ...................................45
3.1.3.6 Operating Mode Switch ................................................................46
3.1.3.7 Hardware Address (MAC-ID) ......................................................47
3.1.4 Operating System...............................................................................48
3.1.4.1 Start-up..........................................................................................48
3.1.4.2 PLC Cycle.....................................................................................48
3.1.5 Process Image....................................................................................50
3.1.5.1 General Structure ..........................................................................50
3.1.5.2 Example of a Process Input Image................................................52
3.1.5.3 Example of a Process Output Image.............................................53
3.1.5.4 Process Data Architecture.............................................................54
3.1.6 Data Exchange...................................................................................55
3.1.6.1 Memory Areas ..............................................................................56
3.1.6.2 Addressing ....................................................................................58
3.1.6.2.1 Addressing the I/O Modules.........................................................58
3.1.6.2.2 Address Range ..............................................................................58
3.1.6.2.3 Absolute Addresses.......................................................................60
3.1.6.3 Data Exchange between MODBUS/TCP Master and I/O Modules61
3.1.6.4 Data Exchange between EtherNet/IP Master and I/O Modules ...63
3.1.6.5 Data Exchange between PLC Functionality (CPU) and I/O
Modules.........................................................................................64
3.1.6.6 Data Exchange between Master and PLC Functionality (CPU)...64
3.1.6.6.1 Example MODBUS/TCP Master and PLC functionality (CPU)..65
3.1.6.6.1.1 Example of Use:.......................................................................66
3.1.7 Starting up a Fieldbus Node ..............................................................67
3.1.7.1 Variation 1: Start up with the WAGO Ethernet Settings..............67
3.1.7.1.1 Connecting PC and Fieldbus Node...............................................67
3.1.7.1.2 Allocating the IP Address to the Fieldbus Node...........................68
3.1.7.1.3 Testing the Function of the Fieldbus Node...................................68
3.1.7.2 Variation 2:Starting up with the WAGO BootP Server................69
3.1.7.2.1 Note the MAC-ID and establish the Fieldbus Node.....................69
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
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Table of Contents • v
3.1.7.2.2 Connecting PC and Fieldbus Node...............................................69
3.1.7.2.3 Determining IP Addresses ............................................................70
3.1.7.2.4 Allocating the IP Address to the Fieldbus Node...........................70
3.1.7.2.5 Testing the Function of the Fieldbus Node...................................73
3.1.7.2.6 Deactivating the BootP Protocol...................................................74
3.1.7.3 Transmission Mode Configuration ...............................................76
3.1.8 Programming the PFC with WAGO-I/O-PRO CAA.........................77
3.1.8.1 WAGO-I/O-PRO CAA library elements for ETHERNET...........81
3.1.8.2 Restrictions in the Function Range...............................................82
3.1.8.3 Some Basic Facts about IEC Tasks ..............................................84
3.1.8.3.1 Flowchart of an IEC Task.............................................................84
3.1.8.3.2 Overview of the Most Important Task Priorities (descending
priority) ....................................................................................85
3.1.8.3.3 System Events...............................................................................86
3.1.8.4 IEC 61131-3-Program transfer .....................................................87
3.1.8.4.1 Transmission via the Serial Interface............................................88
3.1.8.4.2 Transmission by the Fieldbus .......................................................89
3.1.9 Information on the Web-Based Management System.......................90
3.1.10 Configuration of SNMP.....................................................................98
3.1.10.1 Description of MIB II ...................................................................98
3.1.10.1.1 System Group...........................................................................99
3.1.10.1.2 Interface Group ........................................................................99
3.1.10.1.3 Address Translation Group....................................................100
3.1.10.1.4 IP Group.................................................................................101
3.1.10.1.5 IpRoute Table.........................................................................102
3.1.10.1.6 IpNetToMediaTable...............................................................102
3.1.10.1.7 ICMP Group...........................................................................102
3.1.10.1.8 TCP Group .............................................................................104
3.1.10.1.9 UDP Group.............................................................................104
3.1.10.1.10 SNMP Group..........................................................................105
3.1.10.1.11 EGP-Group.............................................................................106
3.1.10.2 Traps ...........................................................................................106
3.1.11 LED Display....................................................................................107
3.1.11.1 Fieldbus status.............................................................................108
3.1.11.2 Node Status – Blink code from the 'I/O' LED ............................109
3.1.11.3 ‘USR‘-LED.................................................................................116
3.1.11.4 Supply voltage status ..................................................................117
3.1.12 Fault behavior..................................................................................117
3.1.12.1 Fieldbus failure ...........................................................................117
3.1.12.2 Internal bus fault .........................................................................118
3.1.13 Technical Data.................................................................................119
4 Fieldbus Communication .......................................................................121
4.1 ETHERNET .........................................................................................121
4.1.1 General.............................................................................................121
4.1.2 Network Architecture – Principles and Regulations .......................122
4.1.2.1 Transmission Media....................................................................123
4.1.2.2 Network Topologies....................................................................125
4.1.2.3 Coupler Modules.........................................................................128
4.1.2.4 Transmission Mode.....................................................................128
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ETHERNET TCP/IP
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vi • Table of Contents
4.1.2.4.1 Static Configuration of the Transmission Mode.........................129
4.1.2.4.2 Dynamic Configuration of the Transmission Mode ...................129
4.1.2.4.3 Errors Occurring when Configuring the Transmission Mode ....129
4.1.2.5 Important Terms..........................................................................130
4.1.3 Network Communication.................................................................132
4.1.3.1 Protocol layer model...................................................................132
4.1.3.2 Communication Protocols...........................................................134
4.1.3.2.1 ETHERNET................................................................................135
4.1.3.3 Channel access method...............................................................135
4.1.3.3.1 IP-Protocol..................................................................................136
4.1.3.3.1.1 RAW IP..................................................................................140
4.1.3.3.1.2 IP Multicast............................................................................140
4.1.3.3.2 TCP Protocol...............................................................................140
4.1.3.3.3 UDP.............................................................................................141
4.1.3.3.4 ARP.............................................................................................141
4.1.3.4 Administration and Diagnosis Protocols ....................................142
4.1.3.4.1 BootP (Bootstrap Protocol).........................................................142
4.1.3.4.2 HTTP (HyperText Transfer Protocol)........................................143
4.1.3.4.3 DHCP (Dynamic Host Configuration Protocol).........................144
4.1.3.4.4 DNS (Domain Name Systems)...................................................145
4.1.3.4.5 SNTP-Client (Simple Network Time Protocol)..........................145
4.1.3.4.6 FTP-Server (File Transfer Protocol)...........................................145
4.1.3.4.7 SMTP (Simple Mail Transfer Protocol) .....................................147
4.1.3.5 Application Protocols..................................................................147
4.2 MODBUS Functions............................................................................148
4.2.1 General.............................................................................................148
4.2.2 Use of the MODBUS Functions......................................................150
4.2.3 Description of the MODBUS Functions..........................................151
4.2.3.1 Function Code FC1 (Read Coils)................................................152
4.2.3.2 Function Code FC2 (Read Input Discretes)................................153
4.2.3.3 Function Code FC3 (Read multiple registers) ............................154
4.2.3.4 Function code FC4 (Read input registers) ..................................155
4.2.3.5 Function Code FC5 (Write Coil) ...............................................156
4.2.3.6 Function Code FC6 (Write single register)................................157
4.2.3.7 Function Code FC11 (Get comm event counter)........................158
4.2.3.8 Function Code FC15 (Force Multiple Coils).............................159
4.2.3.9 Function Code FC16 (Write multiple registers) ........................160
4.2.3.10 Function Code FC22 (Mask Write Register).............................161
4.2.3.11 Function Code FC23 (Read/Write multiple registers)................162
4.2.4 MODBUS Register Mapping ..........................................................163
4.2.5 Internal Variables ............................................................................165
4.2.5.1 Description of the internal variables...........................................166
4.2.5.1.1 Watchdog (Fieldbus failure).......................................................166
4.2.5.1.2 Watchdog Register:.....................................................................167
4.2.5.2 Diagnostic Functions ..................................................................171
4.2.5.3 Configuration Functions .............................................................171
4.2.5.4 Firmware Information.................................................................175
4.2.5.5 Constant Registers .....................................................................176
4.3 EtherNet/IP (Ethernet/Industrial Protocol)...........................................178
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
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Table of Contents • vii
4.3.1 General.............................................................................................178
4.3.2 Characteristics of the EtherNet/IP Protocol Software.....................179
4.3.3 Object model....................................................................................180
4.3.3.1 General........................................................................................180
4.3.3.2 Classes.........................................................................................181
4.3.3.2.1 CIP Common Classes .................................................................181
4.3.3.2.2 WAGO specific Classes..............................................................181
4.3.3.2.3 Explanations of the Object Description......................................182
4.3.3.2.4 Identity (01
4.3.3.2.5 Message Router (02
4.3.3.2.6 Assembly (04
)............................................................................183
hex
) ..............................................................184
hex
) ........................................................................185
hex
4.3.3.2.6.1 Static Assembly Instances......................................................185
4.3.3.2.7 Port Class (F4
4.3.3.2.8 TCP/IP Interface (F5
4.3.3.2.9 Ethernet Link (F6
4.3.3.2.10 Controller Configuration (64
4.3.3.2.11 Discrete Input Point (65
4.3.3.2.12 Discrete Output Point (66
4.3.3.2.13 Analog Input Point (67
4.3.3.2.14 Analog Output Point (68
4.3.3.2.15 Discrete Input Point Extended 1..3 (69
4.3.3.2.16 Discrete Output Point Extended 1..3 (6A
4.3.3.2.17 Analog Input Point Extended 1..3 (6B
4.3.3.2.18 Analog Output Point Extended 1..3 (6C
4.3.3.2.19 Module configuration (80
4.3.3.2.20 Module configuration Extended (81
4.3.3.2.21 Input fieldbus variable USINT (A0
4.3.3.2.22 Input fieldbus variable USINT Extended 1 (A1
4.3.3.2.23 Input fieldbus variable USINT Extended 2 (A2
4.3.3.2.24 Output fieldbus variable USINT (A3
4.3.3.2.25 Output fieldbus variable USINT Extended 1 (A4
4.3.3.2.26 Output fieldbus variable USINT Extended 2 (A5
4.3.3.2.27 Input fieldbus variable UINT (A6
4.3.3.2.28 Input fieldbus variable USINT Extended 1 (A7
4.3.3.2.29 Output fieldbus variable UINT (A8
4.3.3.2.30 Output fieldbus variable UINT Extended 1 (A9
4.3.3.2.31 Input fieldbus variable UDINT (AA
4.3.3.2.32 Input fieldbus variable UDINT Offset (AB
4.3.3.2.33 Output fieldbus variable UDINT (AC
4.3.3.2.34 Output fieldbus variable UDINT Offset (AD
)........................................................................188
hex
).............................................................189
hex
)..................................................................190
hex
)............................................190
hex
) ...................................................192
hex
).................................................193
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).....................................................193
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) ..................................................194
hex
6D
hex,
hex,
6F
hex,
hex,
).................................................195
hex
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)..................................195
hex
)...............................196
hex
)....................................198
hex
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hex
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hex
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hex
71
hex,
6E
hex,
73
hex,
70
hex,
hex
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)...................200
hex
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72
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74
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)...............198
)..............199
5 I/O Modules.............................................................................................201
5.1 Overview..............................................................................................201
5.1.1 Digital Input Modules......................................................................201
5.1.2 Digital Output Modules...................................................................203
5.1.3 Analog Input Modules.....................................................................204
5.1.4 Analog Output Modules ..................................................................206
5.1.5 Special Modules ..............................................................................207
5.1.6 System Modules ..............................................................................209
5.2 Process Data Architecture for MODBUS/TCP....................................210
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
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viii • Table of Contents
5.2.1 Digital Input Modules......................................................................210
5.2.2 Digital Output Modules...................................................................212
5.2.3 Analog Input Modules.....................................................................216
5.2.4 Analog Output Modules ..................................................................217
5.2.5 Specialty Modules ...........................................................................218
5.2.6 System Modules...............................................................................230
5.3 Process Data Architecture for EtherNet/IP ..........................................231
5.3.1 Digital Input Modules......................................................................231
5.3.2 Digital Output Modules...................................................................233
5.3.3 Analog Input Modules.....................................................................237
5.3.4 Analog Output Modules ..................................................................239
5.3.5 Specialty Modules ...........................................................................240
5.3.6 System Modules...............................................................................250
6 Application Examples.............................................................................252
6.1 Test of MODBUS protocol and fieldbus nodes ...................................252
6.2 Visualization and control using SCADA software...............................252
7 Use in Hazardous Environments ...........................................................255
7.1 Foreword ..............................................................................................255
7.2 Protective Measures .............................................................................255
7.3 Classification Meeting CENELEC and IEC ........................................255
7.3.1 Divisions..........................................................................................255
7.3.2 Explosion Protection Group ............................................................257
7.3.3 Unit Categories................................................................................258
7.3.4 Temperature Classes........................................................................259
7.3.5 Types of Ignition Protection............................................................260
7.4 Classifications Meeting the NEC 500..................................................261
7.4.1 Divisions..........................................................................................261
7.4.2 Explosion Protection Groups...........................................................261
7.4.3 Temperature Classes........................................................................262
7.5 Identification ........................................................................................263
7.5.1 For Europe.......................................................................................263
7.5.2 For America.....................................................................................264
7.6 Installation Regulations........................................................................265
8 Glossary....................................................................................................267
9 Literature List .........................................................................................279
10 Index.........................................................................................................280
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 9
Important Notes • 1
Legal Principles
1 Important Notes
This section provides only a summary of the most important safety
requirements 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 carefully 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
entail the right of claims for damages.
WAGO Kontakttechnik GmbH & Co. KG reserves the right of changes
serving technical progress.
All rights developing from the issue of a patent or the legal protection of
utility 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
Assembly
Commissioning
Programming
Maintenance
Troubleshooting
Instructed
personnel*)
X X
X X
X
X X
X
Specialists**) having
qualifications in PLC
programming
Disassembly
*) 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.
X X
All personnel must be familiar with the applicable standards.
WAGO Kontakttechnik GmbH & Co. KG declines any liability resulting from
improper action and damage to WAGO products and third party products due to
non-observance of the information contained in this manual.
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 10
2 • Important Notes Standards and Regulations for Operating the 750 Series
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
penetration. 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
possibilities 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
installation:
• 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
accident prevention regulations of your machine (e.g. BGV A 3,
"Electrical Installations 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
information in the section on "WAGO-I/O-SYSTEM 750" Æ "System
Description" Æ "Technical Data".
• Please observe the safety measures against electrostatic discharge
according to DIN EN 61340-5-1/-3. When handling the modules, ensure
that the environment (persons, workplace and packing) is well grounded.
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 11
Important Notes • 3 Symbols
• 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
efficient operation.
ESD (Electrostatic Discharge)
Warning of damage to the components through electrostatic discharge.
Observe the precautionary measure for handling components at risk of
electrostatic 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.
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 12
4 • Important Notes
Safety Information
1.4 Safety Information
When connecting the device to your installation and during operation, the
following 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
personnel.
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 field bus station in question can no longer be
ensured on a long-term basis.
Warning
The components are not resistant against materials having seeping and
insulating properties. Belonging to this group of materials is: e.g. aerosols,
silicones, triglycerides (found in some hand creams). If it cannot be ruled out
that these materials appear in the component environment, then the
components must be installed in an enclosure that is resistant against the
above mentioned 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
devices.
ESD (Electrostatic Discharge)
The devices are equipped with electronic components that may be destroyed
by electrostatic discharge when touched.
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 13
Important Notes • 5
Font Conventions
1.5 Font Conventions
italic
italic
\
END
< >
Courier
1.6 Number Notation
Names of paths and files are marked in italic.
e.g.: C:\Programs\WAGO-IO-CHECK
Menu items are marked in bold italic.
e.g.: Save
A backslash between two names characterizes the
selection of a menu point from a menu.
e.g.: File \ New
Press buttons are marked as bold with small capitals
ENTER
e.g.:
Keys are marked bold within angle brackets
e.g.: <F5>
The print font for program codes is Courier.
e.g.: END_VAR
Number code Example Note
Decimal 100 Normal notation
Hexadecimal 0x64 C notation
Binary '100'
'0110.0100'
Within inverted commas,
Nibble separated with dots
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 14
6 • Important Notes
Scope
1.7 Scope
Dieses Handbuch beschreibt alle Komponenten für das feldbusunabhängige
WAGO-I/O-SYSTEM 750 mit dem Programmierbaren Fernwirkcontroller
RJ45.
This manual describes all components of the field bus independent
WAGO-I/O-SYSTEM 750 with the programmable telecontrol controller RJ-
45.
Item.-No. Description
750-872/020-000 Telecontrol controller RJ-45
1.8 Important Comments for Starting up
Attention
For the start-up of the controller 750-872/020-000 important notes are to be
considered, because it strongly differentiates in some points of starting up the
WAGO ETHERNET controller 750-842.
Read for this the chapter: „ Starting up an ETHERNET TCP/IP fieldbus
node“.
1.9 Abbreviation
AI
AO
DI
DO
I/O
ID
PFC
Analog Input
Analog Output
Digital Input
Digital Output
Input/Output
Identifier
Programmable Fieldbus Controller
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System Description • 7
Technical Condition of the Devices
2 The WAGO-I/O-SYSTEM 750
2.1 System Description
The WAGO-I/O-SYSTEM 750 is a modular, field bus independent I/O
system. It is comprised of a field bus coupler/controller (1) and connected
field bus modules (2) for any type of signal. Together, these make up the field
bus node. The end module (3) completes the node.
Fig. 2-1: Field bus node g0xxx00x
Couplers/controllers for field bus systems such as PROFIBUS, INTERBUS,
ETHERNET TCP/IP, CAN (CANopen, DeviceNet, CAL), MODBUS, LON
and others are available.
The coupler/controller contains the field bus interface, electronics and a power
supply terminal. The field bus interface forms the physical interface to the
relevant field bus. The electronics process the data of the bus modules and
make it available for the field bus communication. The 24 V system supply
and the 24 V field supply are fed in via the integrated power supply terminal.
The field bus coupler communicates via the relevant field bus. The
programmable field bus controller (PFC) enables the implementation of
additional PLC functions. Programming is done with the WAGO-I/O-PRO 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
between 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
indication, insertable mini WSB markers and pullout group marker carriers.
The 3-wire technology supplemented by a ground wire connection allows for
direct sensor/actuator wiring.
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8 • Technical Data Technical Condition of the Devices
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 standard marking label type
group 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 contacts
Voltage drop at I
< 1 V/64 modules
max
10 A
max
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 % … 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%
≤ 25 ppm
SO
2
H
S ≤ 10 ppm
2
Special conditions Ensure that additional measures for components are
taken, which are used in an environment involving:
– dust, caustic vapors or gases
– ionization radiation
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Technical Data • 9
Technical Condition of the Devices
Safe electrical isolation
Air and creepage distance acc. to IEC 60664-1
Degree of pollution
2
acc. To IEC 61131-2
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
10 V/m 80 MHz ... 1 GHz 3 A
electromagnetic fields
EN 61000-4-4 burst 1 kV/2 kV (data/supply) 2/3 B
EN 61000-4-5 surge
-/- (line/line) Data:
B
1 kV (line/earth) 2
supply:
AC
supply:
0.5 kV (line/line) 1 DC
0.5 kV (line/earth) 1
1 kV (line/line) 2
2 kV (line/earth) 3
B
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
EN 55022 (AC supply,
conducted)
66 ... 56 dB (µV) 150 kHz ... 500 kHz
56 dB (µV) 500 kHz ... 5 MHz
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
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10 • Technical Data
Technical Condition of the Devices
Mechanical strength acc. to IEC 61131-2
Test specification Frequency range Limit value
IEC 60068-2-6 vibration
IEC 60068-2-32 free fall 1 m
*) QP: Quasi Peak
5 Hz ≤ f < 9 Hz
9 Hz ≤ f < 150 Hz
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
direction for each of the three mutually perpendicular axes
of the test specimen
1.75 mm amplitude (permanent)
3.5 mm amplitude (short term)
0.5 g (permanent)
1 g (short term)
(module in original packing)
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.
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Technical Data • 11
Technical Condition of the Devices
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
IEC 61000-4-2 ESD 6 kV/8 kV (contact/air) 3/3 B
IEC 61000-4-3
electromagnetic fields
IEC 61000-4-4 burst 1 kV/2 kV (data/supply) 2/3 A
IEC 61000-4-6
RF disturbances
Type test AF disturbances
(harmonic waves)
Type test high voltage 755 V DC
Emission of interference acc. to Germanischer Lloyd (2003)
Test specification Limit values Frequency range Distance
Type test
(EMC1, conducted)
allows for ship bridge control
applications
10 V/m 80 MHz ... 2 GHz 3 A
0.5 kV (line/line) 1 IEC 61000-4-5 surge AC/DC
Supply:
10 V/m 80 % AM (0.15 ... 80
MHz)
3 V, 2 W - A
1500 V AC
96 ... 50 dB (µV) 10 kHz ... 150 kHz
60 ... 50 dB (µV) 150 kHz ... 350 kHz
50 dB (µV) 350 kHz ... 30 MHz
1 kV (line/earth) 2
3 A
- -
Evaluation
criteria
A
Type test
(EMC1, radiated)
allows for ship bridge control
applications
except: 24 dB (µV/m) 156 MHz ... 165 MHz 3 m
Mechanical strength acc. to Germanischer Lloyd (2003)
Test specification Frequency range Limit value
IEC 60068-2-6 vibration
(category A – D)
80 ... 52 dB (µV/m) 150 kHz ... 300 kHz 3 m
52 ... 34 dB (µV/m) 300 kHz ... 30 MHz 3 m
54 dB (µV/m) 30 MHz ... 2 GHz 3 m
2 Hz ≤ f < 25 Hz
25 Hz ≤ f < 100 Hz
Note on vibration test:
a) Frequency change: max. 1 octave/minute
b) Vibration direction: 3 axes
± 1.6 mm amplitude (permanent)
4 g (permanent)
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12 • Technical Data
Technical Condition of the Devices
Range of
application
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 field bus coupler/controller for:
ETHERNET
LonWorks
CANopen
DeviceNet
MODBUS
With a special permit, the system can also be implemented with other field bus
couplers/controllers in residential areas (housing, commercial and business areas, smallscale 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
conditions. Please contact WAGO Kontakttechnik GmbH & Co. KG.
Required specification
emission of interference
750-342/-841/-842/-860
750-319/-819
750-337/-837
750-306/-806
750-312/-314/ -315/ -316
750-812/-814/ -815/ -816
Required specification
immunity to interference
Maximum power dissipation of the components
Bus modules 0.8 W / bus terminal (total power dissipation,
system/field)
Field bus coupler/controller 2.0 W / coupler/controller
Warning
The power dissipation of all installed components must not exceed the
maximum conductible power of the housing (cabinet).
When dimensioning the housing, care is to be taken that even under high
external temperatures, the temperature inside the housing does not exceed the
permissible ambient temperature of 55 °C.
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Technical Data • 13
Technical Condition of the Devices
Dimensions
02
01
35
A
B
24V 0V
+
-
A
C
B
D
+
A
C
D
A
C
B
B
D
A
C
D
C
B
D
100
-
51
65
Side view
12
24
Dimensions in mm
64
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.
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14 • Manufacturing Number
Technical Condition of the Devices
2.3 Manufacturing Number
The manufacturing number indicates the delivery status directly after
production.
This number is part of the lateral marking on the component.
In addition, starting from calendar week 43/2000 the manufacturing number is
also printed on the cover of the configuration and programming interface of
the field bus coupler or controller.
PROFIBUS
750-333
ITEM-NO.:750-333
ITEM-NO.:750-333
PROFIBUS DP 12 MBd /DPV1
Hansastr. 27
Hansastr. 27
GL
D-32423 Minden
D-32423 Minden
24V DC
24V DC
AWG 28-14
AWG 28-14
55°C max ambient
55°C max ambient
72072
72072
DS
NO
SW
HW
FWL
II3GD
LISTED 22ZA AND 22XM
LISTED 22ZA AND 22XM
0103000203-B000000
0103000203-B060606
II3GD
DEMKO 02 ATEX132273 X
DEMKO 02 ATEX132273 X
EEx nA II T4
EEx nA II T4
PROFIBUS DP 12 MBd /DPV1
-
Power Supply
Field
24 V
+
0V
0V
Power Supply
Power Supply
Electronic
Electronic
PATENTS PENDING
PATENTS PENDING
WAGO - I/O - SYSTEM
Manufacturing Number
0
1
3
01030002
03-B
060606
72072
Calendar
week
Fig. 2-3: Example: Manufacturing Number of a PROFIBUS field bus coupler 750-333
0
Year Software
version
2
0
0
0
0
3
-B060606
Hardware
Firmware Loader
version
version
Internal
Number
g01xx15e
The manufacturing number consists of the production week and year, the
software version (if available), the hardware version of the component, the
firmware loader (if available) and further internal information for
WAGO Kontakttechnik GmbH & Co. KG.
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Component Update • 15
Technical Condition of the Devices
2.4 Component Update
For the case of an Update of one component, the lateral marking on each
component 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
Datestamp
Software index
Hardware index
Firmware loader index
NO
DS
SW
HW
FWL
Å only starting from
Å only for coupler/
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 field bus 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
packaging. Likewise, the original packaging provides optimal protection
during transport.
calendar week 13/2004
controller
When assembling or repacking the components, the contacts must not be
soiled or damaged. The components must be stored and transported in
appropriate 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
silicone has been ruled out, e.g. 3M 1900E.
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16 • Mechanical Setup
Installation Position
2.6 Mechanical Setup
2.6.1 Installation Position
Along with horizontal and vertical installation, all other installation positions
are allowed.
Attention
2.6.2 Total Expansion
In the case of vertical assembly, an end stop has to be mounted as an
additional 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
The length of the module assembly (including one end module of 12mm
width) that can be connected to the coupler/controller is 780 mm. When
assembled, the I/O modules have a maximum length of 768 mm.
Examples:
• 64 I/O modules of 12 mm width can be connected to one
coupler/controller.
• 32 I/O modules of 24 mm width can be connected to one
coupler/controller.
Exception:
The number of connected I/O modules also depends on which type of
coupler/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
module. The maximum total expansion of a node is calculated as follows:
Warning
The maximum total length of a node without coupler/controller must not
exceed 780 mm. Furthermore, restrictions made on certain types of
couplers/controllers must be observed (e.g. for PROFIBUS).
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Mechanical Setup • 17 Assembly onto Carrier Rail
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
accordance with the European standard EN 50022 (DIN 35).
Warning
WAGO Kontakttechnik GmbH & Co. KG 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 approval of the rail by WAGO
Kontakttechnik GmbH & Co. KG should take place.
Carrier rails have different mechanical and electrical properties. For the
optimal 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,
several 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
rivets).
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18 • Mechanical Setup
Spacing
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.
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Mechanical Setup • 19 Plugging and Removal of the Components
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 field bus 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.
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20 • Mechanical Setup
Assembly Sequence
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 field bus node with an end module (750-600).
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Mechanical Setup • 21 Internal Bus/Data Contacts
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
environment (persons, workplace and packing) is well grounded. Avoid
touching conductive components, e.g. data contacts.
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22 • Mechanical Setup
Power Contacts
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.
WAGO-I/O-SYSTEM 750
Fig. 2-8: Example for the arrangement of power contacts g0xxx05e
Recommendation
With the WAGO ProServe® Software smartDESIGNER, the structure of a
field bus node can be configured. The configuration can be tested via the
integrated accuracy check.
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Mechanical Setup • 23
Wire Connection
2.6.9 Wire Connection
All components have CAGE CLAMP® connections.
The WAGO CAGE CLAMP® connection is appropriate for solid, stranded
and finely stranded conductors. Each clamping unit accommodates one
conductor.
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
conductors 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 section
1 mm2 for 2 conductors with 0.5 mm2
max.
each
WAGO Product 216-103
or products with comparable properties
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24 • Power Supply
Isolation
2.7 Power Supply
2.7.1 Isolation
Within the field bus node, there are three electrically isolated potentials.
• Operational voltage for the field bus interface.
• Electronics of the couplers/controllers and the bus modules (internal bus).
• All bus modules have an electrical isolation between the electronics
(internal 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 module
comes loose from a composite during servicing, then the protective conductor
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.
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Power Supply • 25 System Supply
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.
coupler/controller electronics, field bus 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
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26 • Power Supply
f
System Supply
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*)
Residual current for bus
terminals*)
*)
cf. catalogue W4 Volume 3, manuals or internet
Example Coupler 750-301:
Current consumption via system voltage:
5 V for electronics of the bus modules and
coupler/controller
Available current for the bus modules. Provided by
the bus power supply unit. See coupler/controller
and internal system supply module (750-613)
internal current consumption:350 mA at 5V
residual current for
bus modules : 1650 mA at 5V
sum I
: 2000 mA at 5V
(5V) total
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.
WAGO-I/O-SYSTEM 750
Attention
If the sum of the internal current consumption exceeds the residual current
or bus modules, then an internal system supply module (750-613) must be
placed before the module where the permissible residual current was
exceeded.
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Power Supply • 27
System Supply
Example:
A node with a PROFIBUS Coupler 750-333 consists of 20 relay
modules (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.
Recommendation
With the WAGO ProServe® Software smartDESIGNER, the assembly of a
field bus node can be configured. The configuration can be tested via the
integrated accuracy check.
The maximum input current of the 24 V system supply is 500 mA. The exact
electrical consumption (I
Coupler/Controller
I
= Sum of all the internal current consumption of the connected
(5 V) total
) can be determined with the following formulas:
(24 V)
bus modules
+ internal current consumption coupler/controller
750-613
I
= Sum of all the internal current consumption of the connected
(5 V) total
bus modules
Input current I
(24 V)
=
5 V / 24 V * I
η
= 0.87 (at nominal load)
(5 V) total
/ η
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.
WAGO-I/O-SYSTEM 750
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Page 36
28 • Power Supply
Field Supply
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.
Likewise, 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
module 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.
WAGO-I/O-SYSTEM 750
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Page 37
Power Supply • 29
Field Supply
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
disrupted. 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
separation 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
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Page 38
30 • Power Supply
Field Supply
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
position.
WAGO-I/O-SYSTEM 750
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Page 39
Power Supply • 31
Field Supply
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
WAGO-I/O-SYSTEM 750
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Page 40
32 • Power Supply Supplementary Power Supply Regulations
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.
WAGO-I/O-SYSTEM 750
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.
ETHERNET TCP/IP
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Power Supply • 33
Supply Example
2.7.5 Supply Example
Attention
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.
L1
L2
L3
N
PE
a)
1)
b)
c)
1)
d)
System
Supply
Field
Supply
Field
Supply
230V
230V
24V
24V
10 A
750-613
2) 2)
10 A
750-512 750-512750-616 750-513 750-610 750-552 750-600750-612 750-616
750-630750-400 750-410 750-401
Shield (screen) bus
Main ground bus
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)
Supply Module
with fuse carrier/
iagnostics
d
Fig. 2-22: Supply example g0xxx04e
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34 • Power Supply Power Supply Unit
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
Item 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
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
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Page 43
Grounding • 35 Grounding the DIN Rail
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
2.8.1.2 Insulated Assembly
Care must be taken to ensure the flawless electrical connection between the
carrier rail and the frame or housing in order to guarantee sufficient
grounding.
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
connection 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.
Item No. Description
283-609 1-conductor ground (earth) terminal block make an automatic contact to
the carrier rail; conductor cross section: 0.2 -16 mm
Note: Also order the end and intermediate plate (283-320).
2
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36 • Grounding
Grounding Function
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.
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Grounding • 37
Grounding Protection
2.8.3 Grounding Protection
For the field side, the ground wire is connected to the lowest connection
terminals 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
beginning 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
regulations for maintenance and inspection of the grounding protection must
be observed.
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Page 46
38 • Shielding (Screening)
General
2.9 Shielding (Screening)
2.9.1 General
The shielding of the data and signal conductors reduces electromagnetic
interferences thereby increasing the signal quality. Measurement errors, data
transmission 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 a 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 if the equipment can have even
current or high impulse formed currents running through (for example
initiated by atmospheric discharge).
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Page 47
Assembly Guidelines/Standards • 39 WAGO Shield (Screen) Connecting System
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
different 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
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40 • Fieldbus Controller 750-872/020-000
Description
3 Fieldbus Controller
3.1 Fieldbus Controller 750-872/020-000
3.1.1 Description
The WAGO 750-872/020-000 Programmable Fieldbus Controller (PFC) meets
the requirements for use in telecontrol applications and combines the
functionality of an ETHERNET fieldbus coupler with the functionality of a
Programmable Logic Controller (PLC). When the PFC is used as a PLC, all
or some of its I/O modules can be control locally with the use of WAGO-I/OPRO CAA. WAGO-I/O-PRO CAA is an IEC 61131-3 programming tool,
which based on the standard programming system CoDeSys (a product of the
company 3S) with specific addition of the target files for all WAGO
controllers, used to program and configure the 750-872/020-000 PFC. I/O
modules which are not controlled locally, can be controlled remotely through
the 10/100 Mbps ETHERNET Fieldbus port.
When power is applied to the PFC, it automatically detects all I/O modules
connected to the controller and creates a local process image. This can be a
mixture of analog and digital modules. The process image is subdivided into
an input and an output data area.
The data of the analog modules is mapped first into the process image. The
modules are mapped in the order of their position after the controller. The
digital modules are grouped after the analog modules, in the form of words
(16 bits per word). When the number of digital I/O’s exceeds 16 bits, the
controller automatically starts another word.
The controller has 512 KB of program memory, 128 KB of data memory, and
24 KB of retained memory. The programmer has access to all fieldbus and
I/O data.
To be able to send/receive process data via ETHERNET, the controller
supports a series of network protocols. For the exchange of process data, the
MODBUS TCP (UDP) protocol and the Ethernet/IP protocol are available.
Both communication protocols can be used alternatively or parallel.
For this, the write authorization, that means the access by PLC,
MODBUS/TCP or EtherNet/IP on the I/O modules are specified in a xml-file.
The protocol HTTP, BootP, DHCP, DNS, SNTP, FTP, SNMP and SMTP are
provided for the management and diagnosis of the system.
The programmer has the option to use function modules for programming
clients and servers for all transport protocols (TCP, UDP, etc.) via a socketAPI.
Library functions are available to extend the range of programming functions.
The IEC 61131-3 library "SysLibRTC.lib" enables integration of a buffered
real time clock with date (1 second resolution), alarm function, and a timer. In
the event of a power failure, this clock is powered by an auxiliary supply.
WAGO-I/O-SYSTEM 750
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Page 49
Fieldbus Controller 750-872/020-000 • 41 Compatibility
The controller is based on a 32-bit CPU and is capable of multitasking (i.e.,
several programs can be run at the same time).
The controller has an internal server for web-based applications. By default,
the controller’s built-in HTML pages contain information on the configuration
and status of the PFC, and can be read using a normal web browser. In
addition, a file system is implemented that allows you to store custom HTML
pages in the controller using FTP download.
3.1.2 Compatibility
Programming tool:
WAGO-I/O-PRO CAA
759-333
Controller:
750-872/020-000
For programming, the fieldbus controller 750-872/020-000 with the Firmware
version SW ≥ 11 supports the software version V 2.3.8.x of the
WAGO-I/O-PRO CAA 759-333 (Programming Tool IEC 61131-3; CAA,
CoDeSys Automation Alliance).
Attention
With additional target files, the fieldbus controller 750-872/020-000 supports
already also the software version V 2.3.7.2 of WAGO I/O PRO CAA
759-333. Please order these necessary target files for addition from the
WAGO service under: WAGO technical support
via phone: +49 (0) 571/8 87 –555 or E-Mail: support@wago.com.
Compatible Versions
V2.3.7.2
with restriction compatible
(see the note below!)
SW ≥ 11
(Delivery status SW = 11)
V2.3.8.x
(recommended)
SW ≥ 11
(Delivery status SW = 11)
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Page 50
42 • Fieldbus Controller 750-872/020-000
Hardware
3.1.3 Hardware
3.1.3.1 View
status
voltage supply
-power jumper contacts
-system
data contacts
supply
fieldbus
connection
RJ 45
ETHERNET
LINK
MS
NS
TxD/RxD
01
A
B
24V 0V
02
C
D
24V
I/O
USR
++
0V
supply via
power jumper contacts
24V
_
_
50-872/020-0001
7
0V
flap
open
power jumper contacts
configuration and
programming interface
mode switch
Fig. 3.1-1: Fieldbus controller ETHERNET TCP/IP g087220e
The Fieldbus Controller consists of:
• Device supply with internal system supply module for the system supply as
well as power jumper contacts for the field supply via assembled I/O
modules
• Fieldbus interface with the bus connection
• Display Elements (LED's) for operation status, diagnostics, and
communication status
• Configuration and programming interface port
• Operating mode switch
• Electronics for communication with the I/O modules (internal bus) and the
fieldbus interface
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Fieldbus Controller 750-872/020-000 • 43
Hardware
3.1.3.2 Device Supply
The PFC is powered via terminal blocks with CAGE CLAMP® connections.
The Device Supply generates the necessary voltages to power the electronics
of the controller and the internal electronics of the connected I/O modules.
24 V
0V
24 V
0V
10 nF
10 nF
DC
DC
ELECTRONIC
FiELDBUS
INTERFACE
I/O
MODULES
FiELDBUS INTERFACE
750-872/020-000
1
2
3
4
ELECTRONIC
5
24V/0V
6
24 V
7
0V
8
Fig. 3.1-2: Device supply G087221e
The internal electronics of the controller and I/O modules are electrically
isolated from the field-side power connections and field devices by the use of
DC/DC converters and optocouplers.
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Page 52
44 • Fieldbus Controller 750-872/020-000
Hardware
3.1.3.3 Fieldbus Connection
Connection to the fieldbus is by a RJ45 connector. The RJ45 socket on the
fieldbus controller is wired per the 100BaseTX standard. The specification for
the connecting cable is a twisted pair cable of Category 5. Cables of type SUTP (Screened-Unshielded Twisted Pair) and STP (Shielded Twisted Pair)
with a maximum segment length of 100 meters may be used.
The RJ45 socket is physically lowered for the controller to fit in an 80 mm
high switch box once connected.
The electrical isolation between the fieldbus system and the electronics is
achieved by DC/DC converters and optocouplers in the fieldbus interface.
Contact Signal
1 TD + Transmit +
2 TD - Transmit 3 RD + Receive +
4 free
5 free
6 RD - Receive 7 free
8 free
Fig. 3.1-3: RJ45-Connector and RJ45 Connector Configuration
Attention!
Only for use in LAN, not for connection to telecommunication circuits!
3.1.3.4 Display Elements
The operating condition of the controller or the node is displayed with the help
of illuminated indicators in the form of light-emitting diodes (LEDs).
The LED information is routed to the top of the case by light fibres. In some
cases, these are multi-colored (red/green or red/green/orange).
ETHERNET
ETHERNET
A
A
A
A
LINK
LINK
B
B
B
B
MS
MS
NS
NS
24V 0V
24V 0V
TxD/RxD
TxD/RxD
01
01
02
02
ETHERNET
C
C
C
C
C
C
A
A
D
D
LINK
MS
NS
TxD/RxD
01
A
A
B
B
24V 0V
02
C
C
A
D
B
I/O
I/O
USR
USR
++
++
I/O
USR
++
Fig. 3.1-1: Display Elements 750-872/020-000
WAGO-I/O-SYSTEM 750
g084102x
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Page 53
Fieldbus Controller 750-872/020-000 • 45
Hardware
LED Color Meaning
LINK green Link to a physical network exists
MS red/green The ‚MS‘-LED indicates the state of the node (Module State)
NS red/green The ‚NS‘-LED indicates the state of the network (Network State)
TxD/RxD green Data exchange taking place
IO red /green
/ orange
USR red /green
/ orange
A green Status of the operating voltage – system
B or C green Status of the operating voltage – power jumper contacts
The 'I/O'-LED indicates the operation of the node and signals faults
encountered
The 'USR' LED can be controlled by a user program in a controller
(LED position is manufacturing dependent)
More Information
The evaluation of the displayed LED signals is described in Chapter 3.1.11
"LED Display".
3.1.3.5 Configuration and Programming Interface
The Configuration and Programming Interface port is located behind a cover
flap. This communications port can be use with WAGO-I/O-CHECK and
WAGO-I/O-PRO CAA, as well as for firmware downloading.
Configuration and programming interface
Fig. 3.1-2: Configuration and Programming Interface g01xx07e
A WAGO 750-920 Communication Cable is used to connect the 4 pin male
header and with a PC’s 9-pin RS232 interface.
Warning
The communication cable 750-920 must not be connected or disconnected
while the coupler/controller is powered on!
WAGO-I/O-SYSTEM 750
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Page 54
46 • Fieldbus Controller 750-872/020-000
Hardware
3.1.3.6 Operating Mode Sw itch
The operating mode switch is located behind a cover flap.
open
flap
Run
Update firmware
Stop
Reset
(pushing down)
mode switch
Fig. 3.1-4: Operating Mode Switch g01xx10e
The switch is a push/slide switch with 3 settings and a hold-to-run function.
The slide switch is designed for a maximum number of switching cycles as
defined in EN61131T2.
Operating mode switch Function
From middle to top position Firmware and PFC application are executed (Activate
program processing (RUN)
From top to middle position Firmware is executed, PFC application is stopped (Stop
program processing (STOP)
Lower position, bootstrap Controller starts the operating system loader
Push down
(i.e. with a screwdriver)
Hardware reset
All outputs and flags are reset; variables are set to 0 or to
FALSE or to an initial value.
Retain variables or flags are not changed.
The hardware reset can be performed with STOP as well
as RUN in any position of the operating mode switch!
WAGO-I/O-SYSTEM 750
An operating mode (i.e., RUN/STOP) is internally changed at the end of a
PLC cycle.
Note
The position of the mode switch is not important when starting or stopping
the PFC application from WAGO-I/O-PRO.
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Page 55
Fieldbus Controller 750-872/020-000 • 47
Hardware
Attention
If outputs are set when switching from RUN to STOP mode, they remain set!
Switching off the outputs on the software side i.e. by the initiators are
ineffective because the program is no longer processed.
Note
The user has the possibility to define the status of the outputs before a STOP
condition. For this, in the web-based management system a web-page opens
via the PLC link, on that the function can be accordingly specified.
If there is a checkmark in the small box behind "Enabled", all outputs are set
to zero, otherwise the outputs remain to the last current value.
3.1.3.7 Hardw are Address (MAC-ID)
Each WAGO Telecontrol controller is supplied from the factory with a unique
and internationally unambiguous physical ETHERNET address, also referred
to as MAC-ID (Media Access Control Identity). This is located on the rear of
the controller and on a self-adhesive tear-off label on the controller’s side. The
address has a fixed length of 6 Bytes (48 Bits) and contains the address type,
the manufacturer’s ID, and the serial number.
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48 • Fieldbus Controller 750-872/020-000
Operating System
3.1.4 Operating System
3.1.4.1 Start-up
The controller starts-up after switching on the supply voltage or after a
hardware reset.
Note
The Operating Mode slide switch must not be in the bottom position during
start-up!
The PLC program in the flash memory is transferred to RAM.
This is followed by the initialization of the system. The controller determines
the I/O modules and the present configuration. The variables are set to 0,
FALSE, or to an initial value given by the PLC program. The flags retain their
status . The "I/O" LED blinks red during this phase.
Following a fault free start-up the controller changes over to "RUN" mode.
The "I/O" LED lights up green.
3.1.4.2 PLC Cycle
The PLC cycle starts following a fault free start-up when the Operating Mode
Switch is in the top position or by a start command from the
WAGO-I/O-PRO CAA. The controller starts a PLC cycle by first reading the
fieldbus data, I/O modules, and time data. Next, the PLC program in RAM is
processed (scanned). After the program is processed, the fieldbus data and I/O
modules are updated with new output data. System functions are then
preformed (i.e., system diagnostics, communications, time calculations, etc).
At this point, if a STOP command is not present, the cycle starts over again
with the reading of the fieldbus data, I/O modules, and time data.
The change of the operating mode (STOP/RUN) is only made at the end of a
PLC cycle.
The cycle time is the time from the start of the PLC program to the next start.
If a sizeable loop is programmed within a PLC program, the PLC cycle time is
extended correspondingly.
The inputs and outputs are not updated during the scanning of the PLC
program. I/O updates only occur at the end of the PLC program scan. For this
reason, it is not possible to wait for a physical I/O change from within a
program loop.
WAGO-I/O-SYSTEM 750
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Page 57
Fieldbus Controller 750-872/020-000 • 49
Operating System
Switching on the
supply voltage
“I/O” LED
is blinking
orange
“I/O” LED
is blinking
red
PLC cycle
Is a PLC
program in the Flash
memory ?
Yes
PLC program transfer
from the flash memory to RAM
Determination of the I/O modules
and the configuration
Initialization
of the system
Test o.k.?
No
Yes
Operating mode
RUN
Reading inputs, outputs and times
No
STOP
Determination of the I/O modules
and the configuration
Variables are set to 0 or FALSE
or to their initial value,
flags remain in the same status.
Stop
operating mode switch
is in the top position or
start command in
WAGO-IO- 32:
Online/Start Online/Stop
Fieldbus data,
data of I/O modules
No
PRO
or
Test o.k.?
Yes
“I/O” LED
is shining
green
PLC program in the RAM
is processed
Writing outputs
Operating system functions,
updating times
Operating mode
RUN
STOP
Fieldbus data,
data of I/O modules
operating mode switch
is in the top position or
start command in
WAGO-IO- 32:
Online/Start Online/Stop
PRO
or
Fieldbus start
behaviour as a coupler
Fig. 3.1-5: Controller Operating System g012941e
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 58
50 • Fieldbus Controller 750-872/020-000
Process Image
3.1.5 Process Image
3.1.5.1 General Structure
The powered-up controller recognizes all I/O modules connected in the node
that are waiting to transmit or receive data (data width/bit width > 0). The
maximal length of a node is limited to 64 I/O modules.
Note
Use of the WAGO 750-628 Bus Extension Coupler Module and the 750-627
Extension End Module enables support of up to 250 I/O modules on the
750-872/020-000 controller.
Note
For the number of input and output bits or words of an individual I/O module,
please refer to the corresponding module description later in this chapter.
The controller generates an internal local process image from the data width
and type of I/O modules, as well as the position of the I/O modules in the
node. This image is divided into an input and an output area.
The data of the digital I/O modules are bit-based (i.e., the data exchange is
made by bits). The analog I/O and most specialty modules (e.g., counter
modules, encoder modules, and communication modules) are byte-based, in
which the data exchange is made by bytes.
The process image is divided into an input and an output data area. Each I/O
module is assigned a location in the process image, based on the data
exchange type (i.e., bit-based or byte-based) and their position after the
controller.
All of the byte-based I/O modules are filled in the process image first, then the
bit-based modules. The bits of the digital modules are grouped into a word.
Once the number of digital I/Os exceeds 16 bits, the controller automatically
starts another word.
Note
Changing the physical layout of a node will result in a new structure of the
process image. Also, the addresses of the process data will change. When
adding or removing modules, the process data must be verified.
The process image for physical input and output data is stored in the first 256
words of memory (word 0 to 255). This memory actually consists of a
separate area for the input and output data, but both areas are referenced in a
PLC program with an index of 0 to 255 for word operations.
The MODBUS PFC variables are mapped after the process image of the I/O
modules. This memory area contains 256 words (word 256 to 511).
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 59
Fieldbus Controller 750-872/020-000 • 51
Process Image
If the quantity of I/O data is greater than 256 words, the additional data is
appended after the MODBUS PFC variables in word 512 to 1275. Like the
first physical I/O process image area, there is a separate memory area for input
and output data, but both are referenced with an index of 512 to 1275 for word
operations.
After the remaining physical I/O data is the Ethernet IP PFC variables. This
memory area is word 1276 to 1531.
For future protocol additions, the area above word 1532 is reserved for
additional PFC variables.
With all WAGO fieldbus controllers, the method used by PLC functions to
access process data is independent of the fieldbus system. This access always
takes place via an application-related IEC 61131-3 program.
In contrast to the above, access from the fieldbus side is fieldbus specific. For
the Telecontrol controller, either a MODBUS/TCP master or an Ethernet/IP
master is used. MODBUS/TCP accesses the data via implemented MODBUS
functions. Here decimal and/or hexadecimal MODBUS addresses are used.
With Ethernet/IP, data access occurs with the use of an object model.
More Information
A detailed description of these fieldbus-specific data access operations is
given in the sections “MODBUS functions” and “Ethernet/IP
(Ethernet/Industrial Protocol)”.
More Information
You can find the fieldbus specific process data architecture for all I/O
Modules in the chapter „Fieldbus specific Process Data Architecture“.
WAGO-I/O-SYSTEM 750
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52 • Fieldbus Controller 750-872/020-000
Process Image
3.1.5.2 Example of a Process Input Image
The following figure is an example of a process input image. The
configuration includes 16 digital and 8 analog inputs. Therefore, the process
image has a total data length of 9 words (8 words for the analog data and 1
word for the digital inputs).
Input modules 750- 402 402 472 472 402 476 402 476
Process input image
(Word)
addresses
MODBUS PFC
0x0000 %IW0
0x0001 %IW1
0x0002 %IW2
0x0003 %IW3
0x0004 %IW4
0x0005 %IW5
0x0006 %IW6
0x0007 %IW7
0x0008 %IW8
Word1
Word2Word2
Word1
Word2
Word1
Word2
Word1
Word2
Ethernet
ON
LINK
TxD/RxD
ERROR
I/O
ßSYSTE M
ßI/O
WAGO
750-842
Bit 4
DI
Bit 1
DI
4
1
AI
Word1
Word2
AI
Word1
Word2
AI
Word1
Word2
DI
4
1
AI
Word1
Word2
DI
1411
Highbyte
Lowbyte
Process input image
(Bit)
addresses
MODBUS PFC
0x0000 %IX8.0
0x0001 %IX8.1
0x0002 %IX8.2
0x0003 %IX8.3
0x0004 %IX8.40x0004 %IX8.4
0x0005 %IX8.50x0005 %IX8.5
0x0006 %IX8.60x0006 %IX8.6
0x0007 %IX8.70x0007 %IX8.7
0x0008 %IX8.8
0x0009 %IX8.9
0x000A %IX8.10
0x000B %IX8.11
0x000C %IX8.12
0x000D %IX8.13
0x000E %IX8.14
0x000F %IX8.15
DI: Digital Input
AI:Analog Input
Fig. 3.1-6: Example of a Process Input Image G012924e
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
Page 61
Fieldbus Controller 750-872/020-000 • 53
Process Image
3.1.5.3 Example of a Process Output Image
The following figure is an example of a process output image. The
configuration includes 2 digital and 4 analog outputs. Therefore, the process
image has a total data length of 5 (4 words for the analog data and 1 word for
the digital outputs). When using MODBUS protocol, output data can be read
back with an offset of 200
(0x0200) added to the MODBUS address.
hex
Note
All output data over 256 words can be read back with an offset of 1000
(0x1000) added onto the MODBUS address.
AO
AO
Ethernet
ßSYSTE M
ßI/O
GO
WA
DO
ON
LINK
TxD/RxD
ERROR
-842
750
hex
Output modules 750 - 501 550 550
Bit1
Word1
Word1
Word2
Process output image
Bit2
Word2
(Word)
0x0000 / 0x0200 %QW0
0x0001 / 0x0201 %QW1
0x0002 / 0x0202 %QW2
0x0003 / 0x0203 %QW3
0x0004 / 0x0204 %QW4
MODBUS addresses
Highbyte
Word1
Word2
Word1
Word2
Lowbyte
Process input image
(Word)
0x0200 %QW0
0x0201 %QW1
0x0202 %QW2
0x0203 %QW3
0x0204 %QW4
MODBUS addresses
Highbyte
Word1
Word2
Word1
Word2
Lowbyte
Process output image
(Bit)
MODBUS addresses
0x0000 / 0x0200 %QX4.0
0x0001 / 0x0201 %QX4.1
Process input image
(Bit)
MODBUS addresses
0x0200 %QX4.0
0x0201 %QX4.1
DO: Digital Output
AO: Analog Output
Fig. 3.1-7: Example of a Process Output Image G012925e
WAGO-I/O-SYSTEM 750
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54 • Fieldbus Controller 750-872/020-000
Process Image
3.1.5.4 Process Data Architecture
With some I/O modules, the structure of the process data is fieldbus specific.
In the case of an Ethernet TCP/IP coupler/controller, the process image uses a
word structure (with word alignment). The internal mapping method for data
greater than one byte conforms to the Intel format.
More Information
You can find the fieldbus specific process data architecture for all I/O
Modules of the WAGO-I/O-SYSTEM 750 and 753 in the chapter „Process
Data Architecture“.
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
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Fieldbus Controller • 55
Fieldbus Controller 750-872/020-000
3.1.6 Data Exchange
The Telecontrol controller can be configured for either MODBUS/TCP or the
Ethernet IP protocol.
MODBUS/TCP works according to the master/ model. The master (e.g., a PC
or a PLC) will query a slave device and the slave will return a response to the
master depending on the kind of query. Queries are addressed to a specific
node through the use of the IP address.
Typically, the Telecontrol controller of the WAGO-I/O-SYSTEM is a slave
device. But, with the use of the WAGO-I/O-PRO CAA programming tool, the
PFC can additionally perform master functions.
A controller is able to produce a defined number of simultaneous socket
connections to other network subscribers:
• 3 connections for HTTP (read HTML pages from the controller),
• 15 connections via MODBUS/TCP (read or write input and output data
from the controller),
• 128 Ethernet IP connections,
• 5 connections via the PFC (available for IEC 61131-3 application
programs)
• 2 connections for WAGO-I/O-PRO CAA (these connections are reserved
for debugging the application program via ETHERNET.
For debugging, WAGO-I/O-PRO CAA requires 2 connections at the same
time. However, only one programming tool can have access to the
controller.
• 10 connections for FTP
• 2 connections for SNMP
The maximum number of simultaneous connections may not be exceeded. If
you wish to establish further connections, terminate an existing connection
first.
For data exchange, the Telecontrol controller uses three main interfaces:
• interface to the fieldbus (master),
• the PLC functionality of the PFCs (CPU) and
• the interface to the I/O Modules.
Data exchange takes place between the fieldbus master and the I/O modules,
between the PLC functionality of the controller and the I/O modules as well as
between the fieldbus master and the PLC functionality of the controller.
Currently, the 750-872/020-000 supports MODBUS/TCP and ETHERNET IP
based master devices. When the controller performs PLC functions, and
controls various I/O modules, this is done with the use of an IEC 61131-3
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56 • Fieldbus Controller
Fieldbus Controller 750-872/020-000
application program, whereby the data addressing is different than the fieldbus
addressing.
3.1.6.1 Memory Areas
Programmable Fieldbus Controller
fieldbus
master
memory area
for input data
word 0
word 255
word 256
word 511
memory area
for output data
word 0
modules
word 255
word 256
word 511
input
modules
PFC
input
variables
output
2
PFC
4
output
variables
1
1
3
3
2
4
IEC 61131program
CPU
I/O modules
I
O
Fig. 3.1-8: Memory Areas and Data Exchange for a Fieldbus Controller g012938e
The PFC‘s process image contains the physical data of the I/O modules in
memory words 0 to 255 and 512 to 1275.
(1) Reading data of the input modules is possible from both the controller’s
CPU and from the fieldbus master (See Figure 3-8).
(2) In the same manner, writing data to output modules is possible from both
the controller’s CPU and from the fieldbus master.
The controller’s process image also contains variables called “PFC Variables”.
These variables are allocated based on the fieldbus protocols. The MODBUS
TCP PFC variables are stored in memory from word 256 to 511. Ethernet IP
PFC variables are stored in memory from word 1276 to 1531. The memory
area above word 1531 is reserved for future protocols.
(3) The PFC input variables are written into the input memory space from the
fieldbus master and can be read by the controller’s CPU for further
processing.
(4) The variables processed by the controller’s CPU , via an IEC 61131-3
application program, can be written to the PFC Variables and then read by
the fieldbus master.
WAGO-I/O-SYSTEM 750
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Fieldbus Controller • 57
Fieldbus Controller 750-872/020-000
In addition, with the MODBUS TCP/IP protocol, all output data has a
mirrored image in memory with the address offset 0x0200 or 0x1000. This
permits reading back output values after they are written by adding 0x0200 or
0x1000 to the MODBUS address.
In addition, the controller offers other memory spaces which partly cannot be
accessed from the fieldbus master:
RAM
Memory
256 kByte
The RAM memory is used to create variables not required for
communication with the interfaces but for internal processing,
such as for instance computation of results.
CodeMemory
512 kByte
NOVRAM
Remanent
Memory
24 kByte
(Retain)
The IEC 61131-3 program is filed in the code memory. The code
memory is a flash ROM. Once the supply voltage is applied, the
program is transmitted from the flash to the RAM memory.
After a successful start-up, the PFC cycle starts when the
operating mode switch is turned to its upper position or by a
start command from WAGO-I/O-PRO CAA.
The remanent memory is non volatile memory, i.e. all values are
retained following a voltage failure. The memory management is
automatic. This 24 kByte sized memory area (word 0 ... 12288)
devides on into a 8 kByte sized addressable range for the flags
(%MW0... %MW4095) and a 16 kByte sized Retain range for
variables without memory space addressing or variables which
are explicitly defined with "var retain".
Note
The allocation of the NORAM is if necessary changeable in the
programming software WAGO-I/O-PRO CAA/
register: "Ressourcen"/dialog: "Target Settings" (see picture).
The start address for the flag range is thereby firmly addressed
with 16#30000000. The range sizes and the start address of the
Retain memory are variable. To exclude a data overlap of the
ranges, it is however recommended, to maintain the default
settings. Thereby the size of the flag range is given with
16#2000 and subsequently to it the Retain memory has the start
address 16#30002000 and the size of 16#4000.
WAGO-I/O-SYSTEM 750
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58 • Fieldbus Controller
Fieldbus Controller 750-872/020-000
3.1.6.2 Addressing
3.1.6.2.1 Addressing the I/O Modules
The arrangement of the I/O modules in a node is flexible and up to the user.
Although, the user must verify that the power jumper contacts from one I/O
module to the next are compatible and at the same voltage level.
When the controller addresses I/O modules, data of complex modules (modules
occupying 1 or more bytes) are mapped first. They are mapped in the order of
their physical position after the controller. As such, they occupy the addresses
beginning with word 0. Following this, the digital modules are grouped in the
form of words (16 bits per word). They are also arranged by their physical
order. When the number of digital I/O’s exceeds 8 bits, the controller
automatically starts another byte.
Note
For detailed information on the number of input and output bits/bytes of a
specific module, please refer to the modules manual.
Note
Changing the physical layout of a node will result in a new structure of the
process image. Also, the addresses of the process data will change. When
adding or removing modules, the process data must be verified.
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 diagnosis (2 Bit / channel)
Input modules for resistance sensors Power supply modules with fuse holder / diagnosis
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 3.1.1: I/O Module Data Width
3.1.6.2.2 Address Range
Partition of Address ranges for the word-wise addressing acc. to IEC 61131-3 :
Word Data
0-255 physical I/O modules
256-511 MODBUS/TCP PFC variables
512-1275 remaining physical I/O modules
1276-1531 Ethernet/IP PFC variables
1532-..... reserved for PFC variables of future protocols
WAGO-I/O-SYSTEM 750
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Fieldbus Controller • 59
Fieldbus Controller 750-872/020-000
Word 0-255: First address range I/O module data:
Data Address
Bit
Byte
Word
Dword
0.8...
0.7
0.15
0 1 2 3 ..... 508 509 510 511
0 1 ..... 254 255
0 ..... 127
1.0 ...
1.7
1.8...
1.15
..... 254.0 ...
254.7
254.8...
254.15
255.0 ...
255.7
255.8...
255.15
0.0 ...
Table. 3.12: First Address Range for the I/O Module Data
Word 256-511: Address range for MODBUS/TCP fieldbus data:
Data Address
Bit
Byte
Word
Dword
256.8
...
...
256.7
256.15
512 513 514 515 ..... 1020 1021 1022 1023
256 257 ..... 510 511
128 ..... 255
257.0
...
257.7
257.8
...
257.15
..... 510.0
...
510.7
510.8
...
510.15
511.0
...
511.7
511.8
...
511.15
256.0
Table 3.1.3: Address Range for the MODBUS/TCP Fieldbus Data
Word 512-1275: Second address range I/O module data:
Data Address
Bit
Byte
Word
Dword
512.8...
512.7
512.15
1024 1025 1026 1027 ..... 2548 2549 2550 2551
512 513 ..... 1274 1275
256 ..... 637
513.0 ..
513.7
513.8...
513.15
..... 1274.0..
1274.7
1274.8..
1274.15
512.0.
Table 3.1.4: Second Address Range for the I/O Module Data
Word 1276-1531: Address range for Ethernet/IP fieldbus data:
Data Address
Bit
Byte
Word
Dword
1276.0
...
1276.7
2552 2553 2554 2555
1276 1277
638
1276.8
...
1276.15
1277.0
...
1277.7
1277.8
...
1277.15
1530.0
...
...
1530.7
3060 3061 3062 3063
...
1530 1531
...
765
...
1530.8
...
1530.15
1531.0
...
1531.7
Table 3.1.5: Address Range for the Ethernet IP Fieldbus Data
Address range for flags (Retain Variables):
Data Address
0.0 ...
Bit
Byte
Word
Dword
0.8...
0.7
0.15
0 1 2 3 ..... 24572 24573 24574 24575
0 1 ..... 12287 12288
0 ..... 6144
Table 3.1.6: Address Range for Flags (Retain Variables)
1.0...
1.7
1.8...
1.15
..... 12287.0..
12287.7
12287.8..
12287.15
1275.0 ...
1275.7
12288.0 ...
12288.7
1275.8...
1275.15
1531.8
...
1531.15
12288.8...
12288.15
WAGO-I/O-SYSTEM 750
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Page 68
60 • Fieldbus Controller
Fieldbus Controller 750-872/020-000
Overview of the IEC 61131-3 address ranges:
Address range MODBUS
Access
phys. Inputs read read Physical Inputs (%IW0 ... %IW255 and
phys. Outputs read/write read/write Physical Outputs (%QW0 ... %QW255 and
MODBUS/TCP
PFC IN variables
MODBUS/TCP
PFC OUT variables
Ethernet/IP
PFC IN variables
Ethernet/IP
PFC OUT variables
Configuration register read/write --- see Chapter „Ethernet“
Firmware register read --- see Chapter „Ethernet“
Flags/RETAIN
variables
read/write read Volatile SPS Input variables (%IW256 ... %IW511)
read read/write Volatile SPS Output variables (%QW256 ... %QW511)
- read Volatile SPS Input variables (%IW1276 ... %IW1531)
- read/write Volatile SPS Output variables (%QW1276 ... %QW1531)
read/write read/write Remanent memory (%MW0 ... %MW12288)
Table 3.1.7: Overview IEC 61131-3 Address ranges
SPS
Access
Description
%IW512 ... %IW1275)
%QW512 ... %QW1275)
3.1.6.2.3 Absolute Addresses
Accessing individual memory cells (absolute addresses) in accordance with
IEC 61131-3 is made using special character defined in the table below:
Position Character Designation Comments
1
2
3
4
e. g. word wise: %QW27 (28. Word), bit wise: %IX1.9 (10. Bit in Word 2)
* The character ‘X’ for bits can be deleted
Table 3.1.8: Absolute Addresses
% Starts absolute address
I Input
Q Output
M Flag
X* Single bit Data width
B Byte (8 Bits)
W Word (16 Bits)
D Double word (32 Bits)
Address
Note
Enter the absolute address character strings without blanks (white spaces)!
WAGO-I/O-SYSTEM 750
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Page 69
Fieldbus Controller • 61
Fieldbus Controller 750-872/020-000
Addressing Example:
Address calculation (depending upon the word address):
Bit address: word address .0 to .15
Byte address: 1. Byte: 2 x word address
2. Byte: 2 x word address + 1
Dword address:
word address (even numbers) / 2
or word address (uneven numbers) / 2, rounded off
3.1.6.3 Data Exchange betw een MODBUS/TCP Master and I/O Modules
The data exchange between the MODBUS/TCP Master and the I/O modules is
made via the Ethernet Fieldbus port using MODBUS TCP read and write
commands.
The controller handles four different types of process data with MODBUS
TCP:
• Input words
• Output words
• Input bits
• Output bits
The relationship between bits and words are defined in the table below:
Digital inputs/outputs
Process data word
Byte
Table 3.1.9: Allocation of Digital Inputs/Outputs to Process Data Word in Intel Format
WAGO-I/O-SYSTEM 750
ETHERNET TCP/IP
16. 15. 14. 13. 12. 11. 10. 9. 8. 7. 6. 5. 4. 3. 2. 1.
Bit
Bit
Bit
Bit
Bit
Bit
15
14
13
12
High-Byte Low-Byte
D1 D0
11
Bit9 Bit8 Bit7 Bit 6 Bit 5 Bit 4 Bit 3 Bit2 Bit1 Bit
10
0
Page 70
62 • Fieldbus Controller
Fieldbus Controller 750-872/020-000
Adding an offset of 0x0200 to the MODBUS output address lets you read
back output data.
Note
For MODBUS mapping, all output data over 256 words resides in the
memory area 0x6000 to 0x62FC, and can be read back with an offset of
1000
(0x1000) added onto the MODBUS address.
hex
MODBUS master
0x0000
0x00FF
Inputs
0x6000
PII
0x62FC
0x0000
(0x0200)
00x0FF
(0x02FF)
0x6000
(0x7000)
PIO
0x62FC
(0x72FC)
Outputs
I/O modules
PII = Process Input
Image
PIO = Process Output
Image
Programmable Fieldbus Controller
Fig. 3.1-9: Data exchange between MODBUS/TCP master and I/O modules g015045e
Starting from address 0x1000 there are the register functions. The register
functions made available in the coupler, can be addressed by the MODBUS
master along with the implemented MODBUS function codes (read/write). To
this effect, the individual register address is entered in place of the address of
a module channel.
More information
You can find a detailed description of the MODBUS addressing in the
chapter „MODBUS Register Mapping“.
WAGO-I/O-SYSTEM 750
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Fieldbus Controller • 63
Fieldbus Controller 750-872/020-000
3.1.6.4 Data Exchange betw een EtherNet/IP Master and I/O Modules
Data exchange between the EtherNet/IP Master and the I/O modules is object
oriented. Each node in the network is represented as a collection of objects.
The “assembly” object defines the structure of objects for data transfer. With
the assembly object, data (e.g. I/O data) can be grouped into blocks (mapped)
and sent via a single communication link. As a result of this mapping
technique, fewer access operations to the network are required.
Input and output assemblies have different functions.
An input assembly reads data from the application over the network or
produces data on the network.
Where as, an output assembly writes data to the application or consumes data
from the network.
Various assembly instances are permanently pre-programmed in the fieldbus
controller (static assembly).
After switching on the power supply, the assembly object maps data from the
process image. As soon as a connection is established, the master can address
the data with "class", "instance" and "attribute" and access or read and/or write
the data via I/O links.
The mapping of the data depends on the chosen assembly instance of the static
assembly.
Further information
The assembly instances for the static assembly are described in the section
“EtherNet/IP”.
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64 • Fieldbus Controller
Fieldbus Controller 750-872/020-000
3.1.6.5 Data Exchange betw een PLC Functionality (CPU) and I/O Modules
Through absolute addresses, the PLC functionality of the controller can
directly address the I/O module data.
The PFC addresses the input data with absolute addresses. The data can then
be processed, internally in the controller, through the IEC 61131-3 program,
whereby the flags are filed in a permanent memory area. Following this, the
linking results can be directly written in the output data via absolute
addressing.
Inputs
Outputs
I/O modules 750-4xx....6xx
%IW0 %QW0
PII
Inputs
%IW512
%IW1275
%QW512
PIO
%QW255%IW255
%QW1275
Outputs
PLC functionality (CPU)
PII = Process Input
Image
PIO = Process Output
Image
Programmable Fieldbus Controller
Fig. 3.1-10: Data exchange between PLC functionality (CPU) and I/O modules 15043e
3.1.6.6 Data Exchange betw een Master and PLC Functionality (CPU)
The fieldbus master and the PLC functionality of the controller regard the data
in a different manner.
Variable data created by the fieldbus master reaches the PFC as input
variables. Data created in the PFC is sent to the fieldbus master through
output variables.
In the PFC, the controller can access the MODBUS TCP PFC variable data
from word address 256 to 511 (double word address 128-255, byte address
512-1023) and the Ethernet IP PFC variable data from word address 1276 to
1531 (double word address 638-765, byte address 2552-3063).
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Fieldbus Controller • 65
Fieldbus Controller 750-872/020-000
3.1.6.6.1 Example MODBUS/TCP Master and PLC functionality (CPU)
Data Access by the MODBUS/TCP Master
With MODBUS TCP, the fieldbus master can access controller data as words
or bits.
When accessing the first 256 words of memory from the Fieldbus port
(physical I/O modules), the I/O modules start with the address 0 for both bit
and word access.
When accessing data from the starting memory address of 256, the bit and
word addresses follow the sequence below:
4096 for bit 0 in word 256
4097 for bit 1 in word 256
...
8191 for bit 15 in word 511.
The bit number can be calculated from the following formula:
BitNo = (Word * 16) + Bitno_in_Word
Data Access by the PLC Functionality
When accessing the same data from both a PLC and Fieldbus master, the
following memory address conventions should be understood:
A 16 bit IEC 61131-3 variable uses the same addressing as the MODBUS
word format.
An IEC 61131-3 boolean variable (1 bit) uses a “WORD.BIT” notation for
addressing, which is different from MODBUS’s bit notation.
The “WORD.BIT” notation is composed of the boolean’s word address and
bit number in the word, separated by a dot. The Word and Bit values are zero
based (e.g., %IX0.0 is the first possible digital input).
Example:
MODBUS bit number 19 => bit addressing in PLC <Wordno>.<Bitno> = 1.2
The PLC functionality of the PFC can also access the data as Bytes and
Double- Words.
The byte addresses are computed according to the following formula:
High-Byte Address = Word address*2
Low-Byte Address = (Word address*2) + 1
The double word address is computed according to the following formula:
Double word address = High word address/2 (rounded off)
or = Low word address/2
More information
You can find a detailed description of the MODBUS addressing and the
correspondent IEC61131-addressing in the chapter „MODBUS Register
Mapping“.
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3.1.6.6.1.1 Example of Use:
Process input image
Addresses
MODBUS PFC
0x0000 %IW0
0x0001 %IW1
0x0200 %QW0
0x0201 %QW1
0x0002 %IW2
0x2002 %QW2
Process output image
Addresses
MODBUS PFC
0x0000 / 0x0200 %QW0
0x0001 / 0x0201 %QW1
DI
AI
Ethernet
ON
LINK
TxD/RxD
ERROR
I/O
USR
SYSTE M
-
I/O
-
750-842
WAGO
I/O Modules 750- 402 472 501 550 600
(Word)
Word1
Word2Word2
Word1
Word2
Highbyte
Lowbyte
Bit 4
Bit 1
Word1
Word2
DO
Bit 2
Bit 1
Bit 1
AO
Word1
Word1
Word2
(Word)
Word1
Word2
0x0002 / 0x0202 %QW2
Process input image
MODBUS PFC
0x0000 %IX2.0
0x0001 %IX2.1
0x0002 %IX2.2
0x0003 %IX2.3
0x0200 %QX2.0
0x0201 %QX2.1
Process output image
Adressen
MODBUS PFC
0x0000 / 0x0200 %QX2.0
0x0001 / 0x0201 %QX2.1
MODBUS PFC
0x3560 %MW86
0x34B6 %MX75.6
Highbyte
(Bit)
Adresses
(Bit)
Flags
(Word, Bit)
Adressen
Lowbyte
Bit 1
Bit 2
Bit 3
Bit 4
Bit 1
Bit 2
Bit 1
Bit 2
DI : Digital Input Module
AI : Analog Input Module
DO: Digital Output Module
AO: Analog Output Module
Fig. 3.1-3: Example: Addressing of a Fieldbus node g012948e
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3.1.7 Starting up a Fieldbus Node
This chapter shows a step-by-step procedure for starting up a
WAGO Telecontrol fieldbus node.
A prerequisite for communication with the controller is the assignment of an
IP address. For this two different variations are described:
- Variation 1: Start up with the WAGO Ethernet Settings
(offers a comfortable fast IP address assignment over the serial
Configuration interface of the controller)
- Variation 2: Start up with the WAGO BootP Server
(IP address assignment over the field bus, whereby compared with
Variantion 1 several steps are necessary).
Additionally in the following chapters, it covers details regarding PFC
programming with WAGO-I/O-PRO CAA and provides information about the
built-in HTML web pages.
3.1.7.1 Variation 1: Start up w ith the WAGO Ethernet Settings
This procedure contains the following steps:
1. Connecting the PC and fieldbus node
2. Allocation of the IP address to the fieldbus node
3. Function of the fieldbus tests
3.1.7.1.1 Connecting PC and Fieldbus Node
Connect the assembled Telecontrol fieldbus node on your PC with the
communication cable (Item-No. 750-920) between the controller's
configuration and programming interface and a free serial PC port.
Warning
The communication cable 750-920 must not be connected or disconnected
while the coupler/controller is powered on!
Once the operating voltage has been switched on, the PFC initialization starts.
The fieldbus controller determines the configuration of the I/O modules and
creates the process image. During the startup the 'I/O' LED (Red) flashes at a
high frequency.
When the I/O LED turns green, the fieldbus controller is ready for operation.
If an error has occurred during startup, a fault code is flashed on the
'I/O'-LED. If the I/O LED flashes 6 times (indicating error code 6) and then 4
times (indicating error argument 4), an IP address has not been assigned yet.
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3.1.7.1.2 Allocating the IP Address to the Fieldbus Node
The following describes how to allocate the IP address for a fieldbus node
using the WAGO Ethernet Settings by way of an example.
Note
You can download a free copy of the WAGO Ethernet Settings" which you
can find on the „ELECTRONICC Tools and Docs“ CD ROM (Item-No.:
0888-0412-0001-0101) and on the WAGO Web pages under
www.wago.com, "Service Æ Downloads Æ Software".
For a short description to this you can find the "Quick Start" for the
ETHERNET Fieldbus Controller 750-841. Please have a look on the WAGO
Web pages under www.wago.com, "Service Æ Downloads Æ
Documentation".
4. Start the programm "WAGO Ethernet Settings".
5. Chose the register "TCP/IP".
6. In order to give the address now, change the specified option for the
address assignment.
By default, the address is assigned automaticly with the BootP Server.
Activate now the option "Using following address" by clicking on the
radio button before this option.
7. Enter the desired IP address and if necessary the address for the Subnet
Mask and for the Gateway.
8. Click on the button "Write", to write the address down on the controller.
3.1.7.1.3 Testing the Function of the Fieldbus Node
1. To test the controller’s newly assigned I/P address, start a DOS window by
clicking on the Start menu item Programs/MS-DOS Prompt
2. In the DOS window, enter the command: "ping " followed by the PFC’s IP
address in the following format:
ping [space] XXX . XXX . XXX . XXX (=IP address).
Example: ping 10.1.254.202
Fig. 3.1-11: Example for the Function test of a Fieldbus Node P012910d
3. When the Enter key has been pressed, your PC will receive a query from
the controller, which will then be displayed in the DOS window.
If the error message: "Timeout" appears, please compare your entries
again to the allocated IP address and check all connections. Verify that the
TXD/RXD LEDs flash when the ping command is issued.
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4. When the test has been performed successfully, you can close the DOS
prompt.
5. Since the IP address is still temporarily stored in the controller. Do not
cycle power on the controller until the BootP protocol has been disabled in
the PFC.
3.1.7.2 Variation 2:Starting up with the WAGO BootP Server
This procedure contains the following steps:
1. Noting the MAC-ID and establishing the fieldbus node
2. Connecting the PC and fieldbus node
3. Determining the IP address
4. Allocation of the IP address to the fieldbus node
5. Function of the fieldbus tests
6. Deactivating the BootP Protocol
Note
When starting up the 750-872/020-000 controller, there are a number of
important factors to consider, since the start-up of this controller differs
significantly in certain respects from the 750-842 ETHERNET controller.
3.1.7.2.1 Note the MAC-ID and establish the Fieldbus Node
Before establishing your fieldbus node, please note the hardware address
(MAC-ID) of your ETHERNET fieldbus controller.
This is located on the rear of the fieldbus controller and on a self-adhesive
tear-off label on the side of the fieldbus controller.
MAC-ID of the fieldbus controller: ----- ----- ----- ----- ----- -----.
3.1.7.2.2 Connecting PC and Fieldbus Node
Connect the assembled Telecontrol fieldbus nodeto a hub using a standard
Ethernet cable, or directly to the PC with a “crossover” cable. The
transmission rate of the controller is dependant on the baud rate of the PC
network interface card.
Attention
For a direct connection to a PC, a “crossover” cable is required instead of a
parallel cable.
Now start the BootP server on the PC and apply power to the controller (DC
24 V power pack). Once the operating voltage has been switched on, the PFC
initialization starts. The fieldbus controller determines the configuration of the
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I/O modules and creates the process image. During the startup the 'I/O' LED
(Red) flashes at a high frequency.
When the I/O LED turns green, the fieldbus controller is ready for operation.
If an error has occurred during startup, a fault code is flashed on the
'I/O'-LED. If the I/O LED flashes 6 times (indicating error code 6) and then 4
times (indicating error argument 4), an IP address has not been assigned yet.
3.1.7.2.3 Determining IP Addresses
If your PC is already connected to an ETHERNET network, it is very easy to
determine the IP address of your PC. To do this, proceed as follows:
1. Go to the Start menu on your screen, then go to the menu item
Settings/Control Panel and click on Control Panel.
2. Double click the icon Network
The network dialog window will open.
3. - Under Windows NT: Select the tab: Protocols and highlight
the listbox item TCP/IP protocol.
- Under Windows 9x: Select the tab: Configuration and highlight
the listbox item TCP/IP network card.“.
Attention
If the entry is missing, please install the respective TCP/IP component and
restart your PC. The Windows-NT installation CD, or the installations CD for
Windows 9x is required for the installation.
4. Then, click the Properties button. The IP address and the subnet mask are
found in the IP address tab. If applicable, the gateway address of your PC is
found in the Gateway tab.
5. Please write down the values:
IP address PC: ----- . ----- . ----- . ----Subnet mask: ----- . ----- . ----- . ----Gateway: ----- . ----- . ----- . -----
6. Now select a desired IP address for your fieldbus node.
Attention
When selecting your IP address, ensure that it is in the same local network in
which your PC is located.
7. Please note the IP address you have chosen:
IP address fieldbus node: ----- . ----- . ----- . -----
3.1.7.2.4 Allocating the IP Address to the Fieldbus Node
A prerequisite for communication with the controller is the assignment of an
IP address.
The address can be transferred through the "WAGO BootP Server" or a PFC
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program.
With the PFC program, this is possible in WAGO-I/O-PRO CAA using the
fuction block "ETHERNET_Set_Network_Config" of the library
„Ethernet.lib“.
The following describes how to allocate the IP address for a fieldbus node
using the WAGO BootP server by way of an example.
You can download a free copy of the WAGO’s BootP server over the Internet
under at http://www.wago.com/“Service“/“Downloads“/“Software“/“ELECTRONICC“/‘WAGO BootPServer V1.0 Windows 95/NT - ZIP Archiv‘.
Note
The IP address can be allocated under other operating systems (e.g. under
Linux) as well as with any other BootP servers.
Attention
The IP address can be allocated in a direct connection via a crossover cable or
via a parallel cable and a hub. An allocation over a switch is not possible.
BootP table
Note
A prerequisite for the following steps is the correct installation of the WAGO
BootP server.
1. To start the BootP server, click on the Start menu item Programs/WAGO
Software/WAGO BootP Server.
2. After the BootP Server is started, click on the Edit Bootptab button
located on the right hand side of the display. An editable file will appear in
Windows NotePad (bootptab.txt). This file is a database for the BootP
server. The file contains two examples for the allocation of an IP address,
the example commands are directly after the following comment lines:
- "Example of entry with no gateway"
- "Example of entry with gateway"
Fig. 3.1-12: BootP table p012908d
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The examples mentioned above contain the following information:
Declaration Meaning
node1,
node2
ht=1 Specify the hardware type of the network here.
ha=0030DE000100
ha=0030DE000200
ip= 10.1.254.100
ip= 10.1.254.200
T3=0A.01.FE.01 Specify the gateway IP address here.
Sm=255.255.0.0 In addition enter the Subnet-mask of the subnet (decimal), where the
Any name can be given for the node here.
The hardware type for ETHERNET is 1.
Specify the hardware address or the MAC-ID of the ETHERNET
fieldbus controller (hexadecimal).
Enter the IP address of the ETHERNET fieldbus controller (decimal)
here.
Write the address in hexadecimal form.
ETHERNET fieldbus controller belongs to.
No gateway is required for the local network described in this example.
Therefore, the first example: "Example of entry with no gateway" can be
used.
3. Cursor to the text line: "node1:ht=1:ha=0030DE000100:ip=10.1.254.100"
and replace the 12 character hardware address, which is entered after “ha=”,
with your PFC’s MAC-ID.
4. If you want to give your fieldbus node a different name, replace the name
"node1" with your new name.
5. To assign the controller an IP address, replace the IP address specified in the
example, which is entered immediately after “ip=”, with the IP address you
have selected. Make sure you separate the 3 digit numbers with a decimal
point.
6. Because the second example is not necessary in this exercise, insert a “#” in
front of the text line of the second example: "# hamburg:hat=1:ha=003 0DE
0002 00:ip=10.1.254.200:T3=0A.01.FE.01", so that this line will be ignored.
Note
To address more than one fieldbus nodes, add a line of setup information for
each additional PFC in the file bootptab.txt . Use steps 2 through 4 as a
guideline for configuring each additional module.
7. Save the new settings in the text file "bootptab.txt". To do this, go to the
File menu, menu item Save, and then close the editor.
BootP Server
8. Now open the dialog window for the WAGO BootP server by going to the
Start menu on your screen surface, menu item Program /
WAGO Software / WAGO BootP Server and click on WAGO BootP
Server.
9. After the editor closes, Click on the Start button in the opened BootP dialog
window. This will activate the inquiry/response mechanism of the BootP
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protocol. A series of messages will be displayed in the BootP server
message window. The error messages indicate that some services (e.g. port
67, port 68) in the operating system have not been defined. DO NOT BE
ALARMED, THIS IS THE CORRECT OPERATION FOR THIS
EXAMPLE.
Fig. 3.1-13 Dialog Window of the WAGO BootP Server with Messages P012909d
10. Now it is important to restart the controller by resetting the hardware. To
do this, cycle power to the fieldbus controller for approximately 2 seconds
or press the operating mode switch down, which is located behind the
configuration interface flap on the front of the controller.
Following this, you should see a reply from the PFC stating that the IP
address has been accepted (no errors). The IP address is now temporarily
stored in the controller. Do not cycle power on the controller until the
BootP protocol has been disabled in the PFC.
11. Click on the Stop button, and then on the Exit button to close the BootP
Server .
3.1.7.2.5 Testing the Function of the Fieldbus Node
1. To test the controller’s newly assigned I/P address, start a DOS window by
clicking on the Start menu item Programs/MS-DOS Prompt
2. In the DOS window, enter the command: "ping " followed by the PFC’s IP
address in the following format:
ping [space] XXXX . XXXX . XXXX . XXXX (=IP address).
Example: ping 10.1.254.202
Fig. 3.1-14: Example for the Function test of a Fieldbus Node P012910d
3. When the Enter key has been pressed, your PC will receive a query from the
controller, which will then be displayed in the DOS window.
If the error message: "Timeout" appears, please compare your entries again
to the allocated IP address and check all connections. Verify that the
TXD/RXD LEDs flash when the ping command is issued.
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4. When the test has been performed successfully, you can close the DOS
prompt.
5. Since the IP address is still temporarily stored in the controller. Do not
cycle power on the controller until the BootP protocol has been disabled in
the PFC.
3.1.7.2.6 Deactivating the BootP Protocol
By default, the BootP protocol is activated in the controller.
When the BootP protocol is activated, the controller expects the
permanent presence of a BootP server. If, however, there is no BootP
server available at a power-on reset, the PFC’s network remains inactive.
To operate the controller with the IP configuration stored in the EEPROM, the
BootP protocol must be deactivated.
Note
If the BootP protocol is disabled after the IP address assignment, the stored
IP address is retained even after power is removed from your controller.
1. Disabling of the BootP protocol is done via the built-in web pages stored in
the controller. Open a web browser on your PC (e.g., Microsoft Internet
Explorer).
2. Now enter the controller’s I/P address in the address box of the browser and
press the Enter key.
3. One of the controller’s built-in web pages is displayed. The opening page
displays information about your fieldbus controller. Click the Port
hyperlink on the left navigation bar.
4. A dialog window will open and ask for a password. This serves as access
protection, and includes the three different user groups: admin, guest and
user.
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5. To logon as the administrator, enter the user name admin and the password
wago.
Note
If the controller does not display the opening HTML page, make sure your
web browser is setup to bypass the proxy server for local addresses.
6. A list of all protocols supported by the controller is displayed. The BootP
protocol is activated by default. To disable the protocol, click on the check
box after BootP to remove the check mark.
7. You can disable other protocols you do not need in a similar way, or enable
protocols you wish to use. It is possible to enable several protocols at the
same time, since each protocol uses a different port.
8. To store the protocol selection, click the SUBMIT button and then perform
a hardware reset. To do this, either switch off the power supply of the
controller or press down the operating mode switch.
9. The protocol settings are now stored EEPROM and the controller is ready to
operate.
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3.1.7.3 Transmission Mode Configuration
Both the controller and its link partner must be configured for the same
transmission mode to ensure reliable and fast communication using the
Telecontrol controller, which means they must operate either in (default)
autonegotiation mode or full or half duplex mode with 10/100Mbit static
transmission rate.
If the transmission mode must be set to match the link partner, the "Ethernet"
link can be used to access a web page on which the transmission rate and the
bandwidth limit can be adjusted for the Ethernet transmission. These values
should only be modified in exceptional circumstances.
Note
A faulty configuration of the transmission mode may result in a link loss
condition, a poor network performance or a faulty behavior of the
coupler/controller.
Further Information
Please find detailed information on how to configure the transmission mode in
the chapter "Fieldbus Communication"/"ETHERNET"/
"Fieldbus Communication"/"ETHERNET"/
"Network Architecture – Principles and Regulations"/"Transmission Mode".
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3.1.8 Programming the PFC with WAGO-I/O-PRO CAA
The WAGO 750-872/020-000 Programmable Fieldbus Controller (PFC)
combines the functionality of an ETHERNET fieldbus coupler with the
functionality of a Programmable Logic Controller (PLC). When the PFC is
used as a PLC, all or some of its I/O modules can be control locally with the
use of WAGO-I/O-PRO CAA. WAGO-I/O-PRO CAA is an IEC 61131-3
programming tool that is used to program and configure the 750-872/020-000
PFC. I/O modules which are not controlled locally (i.e., not controlled as a
PLC), can be controlled remotely through the 10/100 Mbps ETHERNET
Fieldbus port.
Note
To perform IEC 61131-3 programming in the 750-872/020-000 PFC, the
WAGO-I/O-PRO port must be enabled. Enable and Disabling of this port is
done with a checkbox in the “Port configuration” web page.
The purpose of this section is not to provide a comprehensive lesson on
WAGO-I/O-PRO CAA programming. Instead, it highlights important
programming and configuration notes of the IEC 61131-3 program when it is
used with the 750-872/020-000 PFC.
More information
For a detailed description of how to use the software, please refer to the
WAGO-I/O-PRO CAA manual. An electronic copy of this manual can be
found on WAGO’s web site: www.wago.com
1. To start the WAGO-I/O-PRO CAA, click the Start menu item
Programs/CoDeSys for Automation Alliance/CoDeSys V2.3/ CoDeSys
V2.3 .
A dialog window will open. Select the target system for programming.
2. Choose WAGO_750-872/020-000 from the pull down list and click the OK
button.
3. You can now create a new project in WAGO-I/O-PRO CAA via its menu
item File/New. A dialog window will prompt you to select the
programming language (i.e., IL, LD, FBD, SFC, etc.).
4. To access I/O modules of your node, the module configuration must first be
mapped in the file "EA-config.xml". This file defines which system may
have write access to each particular I/O module (i.e., the IEC 61131-3
program, MODBUS TCP Fieldbus, or Ethernet IP Fieldbus).
This file can be generated, as described in the following, by the
configuration with the WAGO I/O PRO CAA Configurator.
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Configuration with the WAGO-I/O-PRO CAA I/O-Configurator
1. To configure the I/O of the fieldbus node in WAGO-I/O-PRO, select the
Resources tab in the left window of the screen, then double click on PLC
configuration in the tree structure.
The I/O-Configurator is starting.
2. Expand the branch 'Hardware configuration' and the sub-branch 'K-Bus'
in the tree structure.
3. Click the entry 'K-Bus' or an I/O module with the right mouse key to open a
context menu to insert and append of I/O modules.
4. If the K-Bus structure is empty or the entry 'K-Bus' has been selected, use
the command 'Append Subelement' to select the desired I/O module and
attach it to the end of the K-Bus structure. The command 'Insert Element' is
inactive in this case.
5. If an I/O module has been selected in the K-Bus structure, use the command
'Insert Element' to select the desired I/O module and insert it into the
structure above the selected position. The command 'Append Subelement'
is inactive in this case.
6. The corresponding commands are also accessible via the menu 'Insert' in
the menubar of the main window.
7. Both commands open the dialog box 'I/O-configuration'.
8. In this dialog box you can select a desired I/O module from the catalog and
place it in the node configuration. Place all necessary I/O modules in the
node configuration until the configuration fits to the physical node.
Add a module to the tree structure for each module in your node that
supplies or expects data in bits or words.
Attention
The number of modules that you add must agree with the physical hardware
present (except for supply modules, potential multiplication modules, and end
modules).
9. To get more information about an I/O module, select the desired module
either from the catalog or from the node configuration and press the 'Data
Sheet' button. The data sheet corresponding to the selected module will be
opened in a new window.
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Note
You will find the most current version of the data sheets in the internet under
www.wago.com.
10. Accept changes in the node configuration and close the dialog box by
pressing the 'OK' button. The addresses in the PLC-configuration are
recalculated and the tree structure is refreshed afterwards.
11. You can change now the access authorization, if for individual modules, the
write access should be via the fieldbus (MODBUS TCP/IP or Ethernet/IP).
For each module added, the write access first is fixed from the PLC.
You can change it by determining in the right-hand dialogue
window/register "Module parameters for each individual module, from
where the write access on the I/O Module data should take place.
For this in the "Value" column. your options include:
- PLC (The PFC controls its I/O locally)
- fieldbus 1 (A MODBUS TCP Fieldbus Master controls the I/O module)
- fieldbus 2 (An Ethernet IP Fieldbus Master controls the I/O module)
12. When you have completed the assignments, you can start programming with
the IEC 61131-3 program tool. The configuration file “EA-config.xml” is
generated as soon as you compile the project.
More information
For a detailed description on how to use the software WAGO-I/O-PRO CAA
and the I/O-Configurator, please refer to the Online-Help of WAGO-I/O-PRO
CAA.
Note
Alternatively, the "EA-config.xml" file can be created with each editor and
then be transported via FTP in the Controller directory "/etc".
The configuration with the “EA-config.xml” file, which is already stored in
the controller, is described in the following chapter.
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Configuration with the “EA-config.xml” file
Note
If you wish to directly assign the module mapping using the EA-config.xml
file stored in the controller, you must not have previously stored any
configuration settings in WAGO-I/O PRO, since this file will be overwritten
by the entries in WAGO-I/O-PRO on performing a download
1. Open the FTP client you wish to use (e.g., “LeechFTP”, which is freely
downloadable on the Internet).
2. To access the file system of the controller, enter the IP address of the
controller in the FTP client. Also, set the user name to admin and the
password to wago. The “EA-config.xml” file can be found in the folder etc.
on the PFC server.
3. Copy the file into a local directory on your PC and open it with a text editor
(e.g., “NotePad”). The following syntax is already prepared in the file:
4. The fourth line contains the necessary information for the first module. The
entry [MAP=“PLC“] assigns control rights to the IEC 61131-3 program for
the first module. If you want to change the control setting, replace “PLC”
with “FB1” for control rights from MODBUS TCP, or with “FB2” for
control from Ethernet IP.
5. Now add under the fourth line the same syntax for each individual module
with the appropriate control assignment:
<Module ITEM NO.=““ MAP=“(e.g.) PLC” LOC=“ALL”></Module>.
Note
The number of line entries must agree with the number of hardware modules
present in your node.
6. Save the file and download it back to the file system of the controller using
the FTP client.
7. You can now start programming with WAGO-I/O-PRO CAA.
More information
For a detailed description on how to use the software, please refer to the
WAGO-I/O-PRO CAA manual. An electronic copy of this manual can be
found on WAGO’s web site: www.wago.com
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3.1.8.1 WAGO-I/O-PRO CAA library elements for ETHERNET
WAGO-I/O-PRO CAA offers various libraries for different IEC 61131-3
programming applications. They contain a host of modules that facilitate and
speed up the creation of your application program.
More Information
You can find all libraries on the WAGO-I/O-PRO CAA installation CD ROM
in the folder: CoDeSys V2.3\Targets\WAGO\Libraries\...
Some libraries, e. g. the 'standard.lib', are by default included in a new project.
The table below describes some of the other libraries that are particularly
available for ETHERNET projects with WAGO-I/O-PRO CAA.
Ethernet. lib provides function blocks for communication over
ETHERNET
WAGOLibEthernet_01.lib provides function blocks, which allow to establish a
connection to a remote server or client using TCP protocol
and to use UDP protocol to exchange data with any UDP
server or client.
WAGOLibModbus_IP_01.lib provides function blocks for establishing communication
with one or more slaves
ModbusEthernet_03.lib provides function blocks for establishing communication
with one or more Modbus slaves
ModbusEthernet_04.lib provides function blocks for the data exchange with several
Modbus TCP/UDP Slaves and in addition one function
block, which makes a Modbus server available and
illustrates the Modbus services on an word array
SysLibSockets.lib allows the access on sockets for communication over
TCP/IP and UDP
WagoLibSockets.lib allows the access on sockets for communication over
TCP/IP and UDP and provides additional functions to
SysyLibSockets.lib
WAGOLibMail_01.lib provides function blocks for sending E-Mails:
Mail_02.lib allows sending Emails
WagoLibSnmpEx_01.lib allows sending SNMP-V1-Trap’s together with parameters
of type DWORD and STRING(120) (starting from
software version SW >= 07).
WagoLibSntp.lib provides function blocks for the settings and the use of the
Simple Network Time Protocol (SNTP)
WagoLibFtp.lib provides function blocks for the settings and the use of the
File Transfer Protocol (FTP)
These libraries are loaded on the WAGO-I/O-PRO CAA CD.
After installing these libraries, you will have access to their POUs (Program
Organization Units), data types, and global variables, which can be used in the
same manner as user defined program objects.
More information
For information on the function blocks as well as details regarding the use of
the software, please refer to the WAGO-I/O-PRO CAA manual or the
onlinehelp. An electronic copy of the manual can be found on WAGO’s web
site: www.wago.com.
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3.1.8.2 Restrictions in the Function Range
The basic of WAGO-I/O-PRO CAA, the standard programming system
CoDeSys from the company 3S, has three process variants "HMI",
"TargetVisu" and "WebVisu"within the integrated visualisation system.
The 750-872/020-000 Ethernet controller supports the process variants "HMI"
and "WebVisu". There are technological limitations depending on the process
variant.
Different options of the complex visualisation objects "Alarm" and "Trend"
are available exclusively in the "HMI". This applies, for example, for sending
e-mails as a response to an alarm or for navigating through and generating
historical trend data.
On the Ethernet Controller 750-872/020-000 the "WebVisu" is executed
within considerably tighter physical limits, compared with "HMI". Whereas
the "HMI" can call upon the almost unrestricted resources of a PC, the
"WebVisu" must take into account the following restrictions:
Technological Limitations of the CoDeSys WebVisu
File System (1,4 MB)
Process Data Buffer (16 kB)
Number of Modules
(512/default)
The total size of PLC program, visualisation files, bitmaps,
log files, configuration files etc. must fit into the file system.
The PLC browser returns the free memory available with
the command "fds" (FreeDiscSpace).
The WebVisu uses its own protocol for exchanging process
data between applet and control system.
In doing so, the process data is transmitted with ASCII
coding. The pipe character ("|") is used as a separator
between two process values.
The space required for a process data variable in the process
data buffer is therefore not only dependent on the type of
data but also on the process value itself. A "WORD"
variable therefore occupies between one byte for the values
0... 9 and five bytes for values above 10000.
The selected format allows only a rough estimate of the
space required for the individual process data in the process
data buffer.
If the size is exceeded, the WebVisu no longer works as
expected.
The total size of the PLC program is determined, amongst
other things, by the maximum number of modules. This
value can be configured in the target system settings.
Computer Power/Processor
Time
WAGO-I/O-SYSTEM 750
is based on a real-time operating system with pre-emptive
multitasking.
With this system, high-priority processes, such as the PLC
program, for example, interrupt or suppress low-priority
processes.
The web server, which is responsible for supplying the
applet and exchanging process data with the applet, is such a
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low-priority process.
Make sure when configuring tasks that there is sufficient
processor time available for all processes. The
"freewheeling" task call option is not suitable in conjunction
with the "WebVisu", as in this case the high-priority PLC
program suppresses the web server. Instead of this, use the
"cyclic" task call option with a realistic value.
The PLC browser provides an overview of the real
execution times of all CoDeSys tasks with the command
"tsk".
If operating system functions for the handling of "sockets"
or the "file system" are used in a PLC program for example,
these execution times are not taken into account by the "tsk"
command.
Network Loading
The Ethernet controller 750-872/020-000 has just one CPU,
which is responsible both for running the PLC program and
for handling the network traffic.
Ethernet communication demands that every telegram
received is processed, regardless of whether it is intended
for the 750-872/020-000 or not.
A significant reduction in network loading can be achieved
by using "switches" instead of "hubs".
However, broadcast telegrams can only be suppressed by
the sender or by means of configurable switches, which
feature broadcast limiting.
A network monitor such as www.ethereal.com will give an
overview of your current network loading.
Attention
Please pay attention that the bandwidth
limit, which can be configured in the Web
Based Management System under the
„Ethernet“ link. It is not a suitable means
for increasing the operating reliability of
the "WebVisu", as in this case telegrams
are ignored or rejected.
More Information
It is not possible to define hard key data, because of the reasons above.
So please take as support for your planning the Application Notes, published in
the InterNet, with appropriate projects showing the efficiency of the Web
visualization.
Please find Application Notes under www.wago.com.
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3.1.8.3 Some Basic Facts about IEC Tasks
Attention
Consider please with the programming of your IEC tasks the following facts.
• All IEC tasks must have a different priority level. If two tasks have the
same level, an error message is displayed when the program is compiled.
• A running task can be interrupted by a task of higher priority. The
interrupted task will resume execution after all higher priority tasks are
completed.
• If several IEC tasks use the same input/output variables from the process
image, the values of the input /output variables can change during the
execution of each IEC task, causing contention in the application program.
• After every task cycle, freewheeling tasks are stopped for half of the time
needed by the task itself (min. 1 ms). After that, a new task is started.
Example: First task 4 ms --> Waiting time 2 ms
Second task 2 ms --> Waiting time 1 ms
• If no task is applied in the task configuration, a freewheeling default task is
applied when the program is compiled. The watchdog of this task is
deactivated. This task, named "DefaultTask", is internaly identified with
this name, so don’t use this name for your own tasks.
• Only for cyclic tasks the sensitivity value is used. Sensitivity values of 0
and 1 are synonymic. A value of 0 or 1 means that the watchdog triggers on
a single cycle time overrun. With a sensitivity value of 2 for example, the
watchdog triggers on two consecutive cycle time overruns.
• To cyclic tasks with activated watchdog applies:
- Is the adjusted maximum runtime less than the sampling rate, the
watchdog will also trigger if the runtime exceeds the sampling rate,
irrespective of the value that has been entered for the sensitivity.
- Is the adjusted maximum runtime greater then the sampling rate, the
watchdog will trigger if the maximum runtime is exceeded, irrespective of
the value that has been entered for the sensitivity.
3.1.8.3.1 Flowchart of an IEC Task
• Get system time (tStart).
• If the last I/O bus cycle is not complete.
-> Wait for the end of the next I/O bus cycle.
• Read the inputs and the outputs from the process image.
• If the user application program is running.
-> Execute the program code of this task.
• Write the outputs into the process image.
• Get system time (tEnd).
-> tEnd - tStart = run-time of the IEC task.
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3.1.8.3.2 Overview of the Most Important Task Priorities (descending priority)
• I/O Bus Task / Fieldbus Task ( Internal ):
The I/O Bus task is an internal task, which updates the I/O module data
from the process image.
Fieldbus tasks are triggered by fieldbus events (communications); therefore,
they only use processing time when the fieldbus is active.
• Normal Task ( IEC-Tasks 1-10 ):
IEC tasks with these priorities can be interrupted by the I/O Bus and
Fieldbus tasks. Therefore, if the watchdog is used, before selecting the
sampling rate, consider the number of I/O modules in the node and the
communication activity via the fieldbus.
• PLC Comm Task (Internal):
The PLC Comm Task is only active when you are logged in with CoDeSys.
This task manages the communication with the CoDeSys-Gateway.
• Background Task ( IEC-Tasks 11-31 ):
All internal tasks have a higher priority than the IEC background tasks.
Therefore, IEC background tasks are used for time-consuming and timeuncritical jobs (e.g., SysLibFile functions)
More information
For detailed information on the programming tool WAGO-I/O-PRO CAA,
please refer to the WAGO-I/O-PRO CAA manual. An electronic copy of this
manual can be found on WAGO’s web site: www.wago.com
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3.1.8.3.3 System Events
Instead of a "task" also a "system event" can be used to call a POU of your
project.
The available system events are target specific (definition in target file). The
list of the standard events of the target may be extended by customer specific
events. Possible events are for instance: Stop, Start, Online Change.
The complete list of all system events is specified in WAGO-I/O-PRO CAA
/register "Resources"/"Task configuration"/"System events".
If you actually want the POU to be called by the event, activate the entry in
the assignment table. Activating/deactivating is done by a mouse click on the
control box.
More Information
The assignment of the system events to the POUs is described in detail in the
manual to the programming tool WAGO-I/O-PRO CAA under:
www.wago.com ->Service->Downloads->Documentation
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3.1.8.4 IEC 61131-3-Program transfer
Transferring an IEC 61131-3 application program from your PC to the PFC
can be done in two different ways:
• via the serial RS232 interface
• via the fieldbus with TCP/IP.
Note
When choosing the driver, make sure the communication parameters are
correctly set and match your controller.
The Communication parameters dialog window is displayed through the
program menu item Online and then Communication parameters.
1. If you choose the RS232 driver, verify that the Communication parameters
dialog window contains the following setup data: Baudrate=19200,
Parity=Even, Stop bits=1, Motorola byteorder=No.
2. If you choose the TCP/IP driver, verify that the Communication parameters
dialog window contains the following setup data: Port=2455, Motorola
byteorder=No. Additionally, verify that the entered IP address is correct.
More information
For information on the installation of the communication drivers, as well as
details regarding the use of the software, please refer to the WAGO-I/O-PRO
CAA manual. An electronic copy of this manual can be found on WAGO’s
web site: www.wago.com
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3.1.8.4.1 Transmission via the Serial Interface
Use the WAGO communication cable to produce a physical connection to the
serial interface. This is contained in the scope of delivery of the programming
tool IEC 1131-3, order No.: 759-333/000-002, or can be purchased as an
accessory under order No.: 750-920.
Connect the COMX port of your PC with the communication interface of your
controller using the WAGO communication cable.
Warning
The communication cable 750-920 must not be connected or disconnected
while the coupler/controller is powered on!
A communication driver is required for serial data transmission. In
WAGO-I/O-PRO CAA, this driver and its parameterization are entered in the
"Communication parameters" dialog.
1. Start WAGO-I/O-PRO CAA by using the Windows Start menu, find and
click on the WAGO-I/O-PRO program name (i.e., CoDeSys V2.3).
2. In the Online program menu, click Communication parameters. The
dialog window Communication parameters opens. Next, click New to
create a new communications channel and the Communication
Parameters: New Channel dialog window opens.
3. In the Communication Parameters: New Channel dialog window, you
can enter a channel description in the “Name” field, then single click on
Serial (RS232). Click the OK button to close the dialog window and the
Communication Parameters dialog window will regain focus.
4. In the center window of the dialog, the following parameters appear: Baud
rate=19200, Parity=Even, Stop bits=1, Motorola byteorder=No.
If necessary, change the entries accordingly. After all changes are entered,
Click OK. You can now test communication with your controller.
Note
To access the controller, the operating mode switch of the controller must
be in the center or the top position.
5. Under the program menu item Online, click Log-on to log on to the
controller. (During online operations the WAGO-I/O-PRO CAA server is
active and the Communication Parameters menu item cannot be accessed.)
6. If the controller does not contain a application program, or it contains a
different program, a dialog window appears asking whether or not the new
program should be loaded. Confirm with the Yes button.
7. As soon as the program is loaded, you can start the controller by clicking on
the program menu item Online and then Run. At the right-hand side of the
status bar (the status bar is located at the bottom of the screen), the
RUNNING indicator will be highlighted .
8. To terminate the online operation, return to the Online menu and click on
Log-off.
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3.1.8.4.2 Transmission by the Fieldbus
When using the Ethernet Fieldbus port for communication with WAGO-I/OPRO CAA, the PC and the controller must be connected physically via
Ethernet (refer to Figure 5-2 and 5-3 for typical network connections).
Additionally, the TCP/IP communication driver in WAGO-I/O-PRO CAA
must be setup correctly and the controller must contain an IP address (refer to
section 3.1.6.4 for assigning an IP address to the controller).
A communication driver is required for Ethernet transmission. In
WAGO-I/O-PRO CAA, this driver and its parameters are entered in the
Communication Parameters dialog.
1. Start WAGO-I/O-PRO CAA by using the Windows Start menu, find and
click on the WAGO-I/O-PRO program name (i.e., CoDeSys V2.3).
2. In the Online program menu, click Communication parameters. The
dialog window Communication parameters opens. Next, click New to
create a new communications channel and the Communication
Parameters: New Channel dialog window opens.
3. In the Communication Parameters: New Channel dialog window, you
can enter a channel description in the “Name” field, then single click on
Tcp/Ip. Click the OK button to close the dialog window and the
Communication Parameters dialog window will regain focus.
4. In the center window of the dialog, the following parameters appear:
Address=localHost, Port=2455, Motorola byteorder=No. Replace the
Address “localHost” with the IP address of your controller assigned via the
BootP server. If necessary, change the other entries accordingly. After all
data has been entered, Click OK. You can now test communication with
your controller.
Note
To access the controller, it must have an IP address, and the operating
mode switch of the controller must be in the center or top position.
5. Under the program menu item Online, click Log-on to log on to the
controller. (During online operations the WAGO-I/O-PRO CAA server is
active and the Communication Parameters menu item cannot be accessed.)
6. If the controller does not contain an application program, or it contains a
different program, a dialog window appears asking whether or not the new
program should be loaded. Confirm with the Yes button.
7. As soon as the program is loaded, you can start the controller by clicking on
the program menu item Online and then Run. At the right-hand side of the
status bar (the status bar is located at the bottom of the screen), the
RUNNING indicator will be highlighted.
8. To terminate the online operation, return to the Online menu and click on
the Log-off.
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3.1.9 Information on the Web-Based Management System
In addition to the web pages already described in section 3, the following
HTML pages are stored in your controller and provide information and
configuration options. After opening the default page of your controller, you
can access these pages via the hyperlinks in the left navigation bar of the
browser window.
Information
Under the link Information you can get the status information about the
controller and the network.
TCP/IP
Under the TCP/IP link, you can view and change settings for the TCP/IP
protocol, which is responsible for network transmission.
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Port
Under the link Port you can get the HTML page "Port configuration" on that
you can activate or deactivate wished protocols.
FTP, HTTP, WebVisu, MODBUS TCP, MODBUS UDP, CoDeSys and
BOOTP are activated by default.
Snmp
Under the Snmp link, you can view and change settings for the Simple
Network Management Protocol, which is responsible for the transport of
control data.
More information
For detailed information to the settings and the configuration of SNMP please
refer the following chapter "Configuration of SNMP".
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Watchdog
Under the Watchdog link, you can view and change settings for the
MODBUS Watchdog.
Clock
Under the Clock link, you can view and change settings for the controller' s
internal real time clock.
By the Configuration of the SNTP client the syncronization of the time of day
is made. The following parameters must be set:
Parameter Meaning
Address of the Time
server
Time zone
Update Time
Enable Time Client
The address assignment can be made either over a IP address or
a host name.
The time zone relative to GMT (Greenwich Mean time). A
range of -12 to +12 hours is acceptable.
The update time indicates the interval in seconds, in which the
synchronization with the time server is to take place.
It indicates whether the SNTP Client is to be activated or
deactivated.
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