WAGO CAN Gateway Manual

Manual

WAGO-I/O-SYSTEM 750

750-658

CAN Gateway

Version 1.2.

2 , valid from FW/HW-Version 01/01

2

© 20 21 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: [email protected]

Web: www.wago.com

Technical Support

Phone: +49 (0) 571/8 87 – 4 45 55

Fax: +49 (0) 571/8 87 – 84 45 55


WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

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


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

WAGO is a registered trademark of WAGO Verwaltungsgesellschaft mbH.

Manual

Version 1.2.

2 , valid from FW/HW-Version 01/01

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Table of Contents 3

Table of Contents

1 Notes about this Documentation .............................................................. 6

1.1

1.2

1.3

1.4

1.5

Validity of this Documentation .................................................................. 6

Copyright.................................................................................................. 6

Symbols ................................................................................................... 7

Number Notation ...................................................................................... 9

Font Conventions ..................................................................................... 9

2 Important Notes ........................................................................................ 10

2.1

2.1.1

2.1.2

2.1.3

2.1.4

2.1.4.1

2.1.4.1.1

2.1.4.1.2

2.2

Legal Bases ........................................................................................... 10

Subject to Changes ........................................................................... 10

Personnel Qualifications.................................................................... 10

Use of the 750 Series in Compliance with Underlying Provisions ..... 10

Technical Condition of Specified Devices ......................................... 11

Disposal ........................................................................................ 11

Electrical and Electronic Equipment ........................................ 11

Packaging ................................................................................ 12

Safety Advice (Precautions) ................................................................... 13

3 CAN Technology ....................................................................................... 15

4 Device Description ................................................................................... 16

4.5.1

4.5.2

4.5.3

4.5.4

4.5.5

4.6

4.7

4.1

4.2

4.2.1

4.2.2

4.2.3

4.3

4.4

4.5

View ....................................................................................................... 18

Connectors ............................................................................................. 19

Data Contacts/Local Bus ................................................................... 19

Power Jumper Contacts/Field Supply ............................................... 20

CAGE CLAMP ® Connectors .............................................................. 22

Display Elements ................................................................................... 23

Schematic Diagram ................................................................................ 24

Technical Data ....................................................................................... 25

Device Data ....................................................................................... 25

Supply ............................................................................................... 25

CAN Communication ......................................................................... 26

Connection Type ............................................................................... 26

Climatic Environmental Conditions .................................................... 27

Approvals ............................................................................................... 28

Standards and Guidelines ...................................................................... 29

5 Function Description ................................................................................ 30

5.1

5.1.1

5.1.2

5.1.3

5.1.3.1

5.1.3.2

5.1.3.2.1

5.1.3.2.2

5.1.3.2.3

5.1.3.2.4

5.1.3.3

Operating Modes ................................................................................... 30

Sniffer Mode ...................................................................................... 31

Transparent Mode ............................................................................. 31

Mapped Mode ................................................................................... 31

Map CAN Telegrams in Input Direction ........................................ 31

Map CAN Telegrams in Output Direction ..................................... 32

"Content of the CAN telegram" Setting .................................... 32

"Send on request" Setting ........................................................ 33

"Send on change" Setting ........................................................ 33

"Cycle Time" Setting ................................................................ 33

Access CAN Telegrams via the Mailbox....................................... 34

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5.2

5.2.1

5.2.2

Filter Settings ......................................................................................... 35

"Overwrite" Setting ............................................................................ 35

"Keep All" Setting .............................................................................. 35

6 Process Image .......................................................................................... 36

6.1

6.1.1

6.1.2

6.2

6.2.1

6.2.2

6.3

6.3.1

6.3.2

6.3.3

Process Image in "Sniffer" Operating Mode .......................................... 37

Mailbox .............................................................................................. 37

CAN User Data Range ...................................................................... 37

Process Image in "Transparent" Operating Mode ................................. 39

Mailbox .............................................................................................. 39

CAN User Data Range ...................................................................... 39

Process Image in the "Mapped" Operating Mode .................................. 40

Mailbox .............................................................................................. 40

Toggle Byte ....................................................................................... 40

Mapped Cyclical Data (CAN User Data) ........................................... 40

7 Mounting ................................................................................................... 41

7.1

7.2

7.2.1

7.2.2

Mounting Sequence ............................................................................... 41

Inserting and Removing Devices ........................................................... 42

Inserting the I/O Module .................................................................... 42

Removing the I/O Module.................................................................. 43

8 Connect Devices ....................................................................................... 44

8.1

8.2

Connecting a Conductor to the CAGE CLAMP ® .................................... 44

Connect CAN Bus .................................................................................. 45

9 Configuration and Parameterization ....................................................... 46

9.1

9.1.1

9.1.1.1

9.1.1.2

9.1.1.3

9.1.2

9.1.3

9.1.3.1

9.1.3.2

9.1.3.3

9.1.4

9.1.5

9.1.6

9.1.6.1

9.1.6.2

9.1.7

9.1.7.1

9.1.7.2

9.1.8

9.2

9.3

Configuration and Parameterization with WAGO-I/OCHECK .............. 47

Configuration Dialog .......................................................................... 48

Toolbar ......................................................................................... 48

Function Area ............................................................................... 51

Diagnosis Area ............................................................................. 51

Load Parameters into the Application ............................................... 52

"Configuration" Dialog ....................................................................... 54

Set Mailbox Diagnosis .................................................................. 54

Set Mailbox Length ....................................................................... 55

Setting the Process Image Size ................................................... 56

Function Area in the "Sniffer Mode" .................................................. 57

Function Area in the "Transparent Mode" ......................................... 58

Function Area in the "Mapped Mode" ................................................ 60

"PII" View ...................................................................................... 60

"PIO" View .................................................................................... 62

"CAN Parameter" Dialog ................................................................... 65

Select CAN Data Format .............................................................. 65

Set CAN Baud Rate ...................................................................... 66

"Filter" Dialog ..................................................................................... 67

Configuration and Parameterization with

Startup with WAGO-I/OPRO

e!COCKPIT

........................... 69

................................................................. 70

10 Diagnostics ............................................................................................... 71

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Table of Contents 5

11 Use in Hazardous Environments ............................................................ 73

11.1

Marking Configuration Examples ........................................................... 74

11.1.1

11.1.2

(CEC) ................................................................................................ 78

11.2

Installation Regulations .......................................................................... 81

11.2.1

11.2.2

Marking for Europe According to ATEX and IECEx .......................... 74

Marking for the United States of America (NEC) and Canada

Special Notes Regarding Explosion Protection ................................. 81

Special Notes Regarding ANSI/ISA Ex ............................................. 83

12 Appendix ................................................................................................... 84

12.1

Mailbox 2.0 Transmission Method ......................................................... 84

12.1.1

12.1.2

12.1.2.1

12.1.3

12.1.3.1

12.1.3.1.1

12.1.3.1.2

12.1.3.1.3

12.1.3.1.4

12.1.3.2

12.1.3.2.1

Message ............................................................................................ 84

Transmission Channel....................................................................... 85

The Handshake Byte .................................................................... 86

Communication Phases .................................................................... 87

Synchronization ............................................................................ 87

Mailbox Commands ................................................................. 87

Acknowledgement .................................................................... 88

Signaling .................................................................................. 88

Finite Automation ..................................................................... 89

Data Exchange ............................................................................. 90

Example ................................................................................... 91

12.2

Protocols Supported by Mailbox 2.0 ...................................................... 92

12.2.1

12.2.2

12.3

Overview of Parameters ........................................................................ 95

12.3.1

12.3.2

12.3.3

Protocol 0x80 (Parameter Access) .................................................... 92

Protocol 0x81 (Diagnostics) .............................................................. 93

Table 0: Base Register ...................................................................... 95

Tables 50 … 55: Filter Configuration ................................................. 95

Tables 100 … 144: Configuration of Output Direction for "Mapped

Mode" ................................................................................................ 96

12.3.4

12.4

Register Communication ...................................................................... 102

12.4.1

12.4.2

Tables 200 … 244: Configuration of Input Direction for "Mapped

Mode" ................................................................................................ 99

Control/Status Byte ......................................................................... 103

Register Overview ........................................................................... 104

List of Figures .................................................................................................. 105

List of Tables .................................................................................................... 107

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6 Notes about this Documentation

1

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Notes about this Documentation

Always retain this documentation!

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

1.1 Validity of this Documentation

This documentation is only applicable to the I/O module 750-658

(CAN Gateway).

This documentation is only applicable from FW/HW-Version 01/01.

The I/O module 750-658 shall only be installed and operated according to the instructions in this manual and in the manual for the used fieldbus coupler or controller.

Consider power layout of the WAGO-I/O-SYSTEM 750!

In addition to these operating instructions, you will also need the manual for the used fieldbus coupler or controller, which can be downloaded at www.wago.com

.

There, you can obtain important information including information on electrical isolation, system power and supply specifications.

1.2 Copyright

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

Non-observance will involve the right to assert damage claims.

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WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

1.3 Symbols

Notes about this Documentation 7

Personal Injury!

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

Personal Injury Caused by Electric Current!

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


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


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

Damage to Property!

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

Damage to Property Caused by Electrostatic Discharge (ESD)!

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

Important Note!

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

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

750-658 CAN Gateway

Additional Information:

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

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WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

1.4 Number Notation

Table 1: Number Notation

Number Code Example

Decimal

Hexadecimal

100

0x64

Binary '100'

'0110.0100'

Notes about this Documentation 9

Note

Normal notation

C notation

In quotation marks, nibble separated with dots (.)

1.5 Font Conventions

Table 2: Font Conventions

Font Type Indicates italic Names of paths and data files are marked in italic-type. e.g.: C:\Program Files\WAGO Software

Menu

>

Input

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

A greater-than sign between two names means the selection of a menu item from a menu. e.g.: File > New

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

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

[Button] Pushbuttons in dialog boxes are marked with bold letters in square brackets. e.g.: [Input]

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

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10 Important Notes

2

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Important Notes

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

2.1 Legal Bases

2.1.1 Subject to Changes

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

2.1.2 Personnel Qualifications

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

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

2.1.3 Use of the 750 Series in Compliance with Underlying

Provisions

Fieldbus couplers, controllers and I/O modules found in the modular WAGO-I/O-

SYSTEM 750 receive digital and analog signals from sensors and transmit them to actuators or higher-level control systems. Using controllers, the signals can also be (pre-) processed.

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

12.5 mm diameter is assured; protection against water damage is not ensured.

Unless otherwise specified, operation of the devices in wet and dusty environments is prohibited.

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

Appropriate housing (per 2014/34/EU) is required when operating the

WAGO-I/O-SYSTEM 750 in hazardous environments. Please note that a

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Important Notes 11 prototype test certificate must be obtained that confirms the correct installation of the system in a housing or switch cabinet.

The implementation of safety functions such as EMERGENCY STOP or safety door monitoring must only be performed by the F-I/O modules within the modular

WAGO-I/O-SYSTEM 750. Only these safe F-I/O modules ensure functional safety in accordance with the latest international standards. WAGO's interference-free output modules can be controlled by the safety function.

2.1.4 Technical Condition of Specified Devices

The devices to be supplied ex works are equipped with hardware and software configurations, which meet the individual application requirements. These modules contain no parts that can be serviced or repaired by the user. The following actions will result in the exclusion of liability on the part of WAGO

Kontakttechnik GmbH & Co. KG:

•

•

• Repairs,

Changes to the hardware or software that are not described in the operating instructions,

Improper use of the components.

Further details are given in the contractual agreements. Please send your request for modified and new hardware or software configurations directly to

WAGO Kontakttechnik GmbH & Co. KG.

2.1.4.1 Disposal

2.1.4.1.1 Electrical and Electronic Equipment

Electrical and electronic equipment may not be disposed of with household waste. This also applies to products without this symbol.

Electrical and electronic equipment contain materials and substances that can be harmful to the environment and health. Electrical and electronic equipment must be disposed of properly after use.

WEEE 2012/19/EU applies throughout Europe. Directives and laws may vary nationally.

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12 Important Notes WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Environmentally friendly disposal benefits health and protects the environment from harmful substances in electrical and electronic equipment.

•

•

•

• Observe national and local regulations for the disposal of electrical and electronic equipment.

Clear any data stored on the electrical and electronic equipment.

Remove any added battery or memory card in the electrical and electronic equipment.

Have the electrical and electronic equipment sent to your local collection point.

Improper disposal of electrical and electronic equipment can be harmful to the environment and human health.

2.1.4.1.2 Packaging

Packaging contains materials that can be reused.

PPWD 94/62/EU and 2004/12/EU packaging guidelines apply throughout

Europe. Directives and laws may vary nationally.

Environmentally friendly disposal of the packaging protects the environment and allows sustainable and efficient use of resources.

• Observe national and local regulations for the disposal of packaging.

• Dispose of packaging of all types that allows a high level of recovery, reuse and recycling.

Improper disposal of packaging can be harmful to the environment and wastes valuable resources.

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Important Notes 13

2.2 Safety Advice (Precautions)

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

Do not work on devices while energized!

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

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

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

Ensure disconnect and overcurrent protection!

The device is intended for installation in automation technology systems.

Disconnect protection is not integrated. Connected systems must be protected by a fuse.

Provide suitable disconnect and overcurrent protection on the system side!

Ensure a standard connection!

To minimize any hazardous situations resulting in personal injury or to avoid failures in your system, the data and power supply lines shall be installed according to standards, with careful attention given to ensuring the correct terminal assignment. Always adhere to the EMC directives applicable to your application.

Ensure proper contact with the DIN-rail!

Proper electrical contact between the DIN-rail and device is necessary to maintain the EMC characteristics and function of the device.

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14 Important Notes WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Replace defective or damaged devices!

Replace defective or damaged device/module (e.g., in the event of deformed contacts).

Protect the components against materials having seeping and insulating properties!

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

Clean only with permitted materials!

Clean housing and soiled contacts with propanol.

Do not use any contact spray!

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

Do not reverse the polarity of connection lines!

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

Avoid electrostatic discharge!

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

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WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

3 CAN Technology

CAN Technology 15

The CAN bus is an asynchronous serial bus system for connecting intelligent actuators and sensors to the control level. CAN standards for "Controller Area network" and defines a communication standard developed in the mid-1980s for data transmission in automobiles.

The so-called "Data Link Layer" is defined in the CAN specification. This is the physical layer and data link layer. The message format is described in detail.

In addition, the so-called "CAN Application Layer" (CAL) is defined in the CAN specification. CAL is a general description language for CAN networks and makes a number of communication services available.

Network management powers up the network in a simplified manner. This network can be extended by the user as required.

CAN is a so-called "Multi-Master Bus System". Contrary to other fieldbus systems, the I/O modules connected to the bus are not addressed, but the messages are identified. The devices are allowed to send messages whenever the bus is available. Bus conflicts are solved by assigning messages a specific priority. This priority is defined by the so-called "CAN-ID" (CAN identifier). It is uniquely assigned to a communication object. The smaller the identifier, the higher the priority. Thus, communication without bus master module is thus also possible.

There are two CAN standards:

•

• "2.0A Standard Frame"

"2.0B Extended Frame"

The "2.0A Standard Frame" makes it possible to address up to 2 identifiers. The "2.0B Extended Frame" was later developed to support up to 2 different CAN identifiers.

11 different CAN

29

Each bus node decides by itself when it wants to send data. However, it is also possible to request other bus nodes to send data. This request happens via the so-called "Remote Frame".

Based on CAN, various protocols have been established on the market at higher layers. These may include CANopen, DeviceNet and SAE J1939. Support for these protocols is left to future module variants.

Additional information about the CAN bus!

Additional information about the CAN bus is available on the Internet at www.can-cia.org.

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16 Device Description

4

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Device Description

The I/O module 750-658 is used to connect a CAN bus network to a PLC independent of the fieldbus.

The I/O module supports the physical layer and data link layer by default.

Support higher protocol layers!

Use IEC-61131-compliant function blocks to support the I/O module of higher protocol layers. The function blocks can be downloaded at www.wago.com

.

•

•

•

•

The I/O module can be configured and parameterized via:

WAGO-I/OCHECK,

e!COCKPIT ,

PROFIBUS GSD or function blocks

The 750-658 module can be used with the fieldbus couplers and controllers of the WAGO-I/O-SYSTEM 750 of the specified version or higher listed in the

“Compatibility list” table.

Table 3: 750-658 Compatibility List – Fieldbus Couplers/Controllers

Bus System

PROFIBUS

PROFINET

Fieldbus

Couplers/Controllers

Fieldbus coupler

Fieldbus coupler

Item Number

750-333

750-375

ETHERNET Fieldbus coupler

Fieldbus controller

750-377

750-341

750-342

750-352

750-841

750-842

750-843

DeviceNet

CANopen

Fieldbus coupler

ECO fieldbus coupler

Fieldbus controller

Fieldbus coupler

750-871

750-872

750-873

750-880

750-880/0025-0001

750-880/0025-0002

750-881

750-882

750-884

750-885

750-306

750-346

750-806

750-337

750-338

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Firmware

03

03

03

02

03

04

4K

10

10

19

19

17

02

19

18

02

17

03

03

08

07

03

05

03

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Table 3: 750-658 Compatibility List – Fieldbus Couplers/Controllers

Bus System

Fieldbus

Couplers/Controllers

ECO fieldbus coupler

Item Number

EtherCAT

KNX

BACnet

LONWORKS

Various

Fieldbus controller

Fieldbus coupler

Fieldbus controller

Fieldbus controller

Fieldbus coupler

Fieldbus controller

PFC200

750-347

750-348

750-837

750-838

750-354

750-849

750-889

750-830

750-319

750-819

750-820x

Device Description 17

Firmware

01

05

07

03

05

09

02

08

08

16

16

Table 4: 750-658 Compatibility List – IPC

Bus System IPC

WAGO-IPC IPC

Item Number Description

758-0870/0000-0010 Firmware revision 2.4.31 / 0111

Local bus FW revision 01.02.10(12)

758-0870/0000-0111 Firmware revision 01.01.26(05)






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4.1 View

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Figure 1: View

Table 5: Legend for Figure “View”

Pos. Description

1 Marking possibility with Mini-

WSB

2 Status LEDs

Details See Section

---

“Device Description” > “Display Elements”

3 Data contacts

4 CAGE CLAMP ®

“Device Description” > “Connectors”

connectors “Device Description” > “Connectors”

5 Power jumper contacts

6 Release tab

“Device Description” > “Connectors”

“Mounting” > “Inserting and Removing

Devices”

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WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

4.2 Connectors


4.2.1 Data Contacts/Local Bus

Communication between the fieldbus coupler/controller and the I/O modules as well as the system supply of the I/O modules is carried out via the local bus. It is comprised of 6 data contacts, which are available as self-cleaning gold spring contacts.

Figure 2: Data Contacts

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

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

Ensure that the environment is well grounded!

The devices are equipped with electronic components that may be destroyed by electrostatic discharge. When handling the devices, ensure that the environment

(persons, workplace and packing) is well grounded. Avoid touching conductive components, e.g. data contacts.

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4.2.2 Power Jumper Contacts/Field Supply

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Risk of injury due to sharp-edged blade contacts!

The blade contacts are sharp-edged. Handle the I/O module carefully to prevent injury. Do not touch the blade contacts.

The I/O module 750-658 has 2 self-cleaning power jumper contacts that supply and transmit power for the field side. The contacts on the left side of the I/O module are designed as blade contacts and those on the right side as spring contacts.

Figure 3: Power Jumper Contacts

Table 6: Legend for Figure “Power Jumper Contacts”

Contact Type Function

1 Spring contact Potential transmission (U v

) for field supply

2

3

4

Spring contact Potential transmission (0 V) for field supply

Blade contact Potential feed-in (0 V) for field supply

Blade contact Potential feed-in (U v

) for field supply

Do not exceed maximum values via power contacts!

The maximum current that can flow through the power jumper contacts is 10 A.

The power jumper contacts can be damaged and the permissible operating temperature can be exceeded by higher current values.

When configuring the system, do not exceed the permissible maximum current value. If there is a higher power requirement, you must use an additional supply module to provide the field voltage.

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Use supply modules for ground (earth)!

The I/O module has no power jumper contacts for receiving and transmitting the earth potential. Use a supply module when an earth potential is needed for the subsequent I/O modules.

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4.2.3 CAGE CLAMP

®

Connectors

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Figure 4: CAGE CLAMP ® Connectors

Table 7: Legend for Figure “CAGE CLAMP ® Connectors“

Designation Connector Function

CAN-H 1 CAN high

CAN-GND

0 V

2

3

CAN ground

Supply voltage 0 V

Shield

CAN-L

+24 V

Shield

(screen)

4

5

6

8

Shield connection (DIN rail)

CAN low

Supply voltage +24 V

Shield connection (DIN rail)

Use shielded signal lines!

Only use shielded signal lines for analog signals and I/O modules which are equipped with shield clamps. Only then can you ensure that the accuracy and interference immunity specified for the respective I/O module can be achieved even in the presence of interference acting on the signal cable.

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750-658 CAN Gateway

4.3 Display Elements


Figure 5: Display Elements

Table 8: Legend for Figure “Display Elements”

Designation LED State Function

CAN status A

Red

Error on the CAN bus. CAN bus not initialized.

CAN Rx B

Green CAN bus properly initialized.

Red CAN telegram could not be received.

Green CAN telegram received.

-

-

Local bus RUN

C

D

E

-

-

Green

(Not assigned)

(Not assigned)

Data exchange via mailbox or register communication possible.

CAN Tx F

OFF

Red

Data exchange via mailbox or register communication not possible.

CAN telegram could not be sent.

Green CAN telegram sent.

-

Int. Error

G

H

-

Red

(Not assigned)

Internal error:

• Buffer overflow

• Error in mailbox communication

• Parameter channel error

• Register communication error

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4.4 Schematic Diagram

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Figure 6: Schematic Diagram

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WAGO-I/O-SYSTEM 750

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4.5 Technical Data


4.5.1 Device Data

Table 9: Technical Data – Device

Width 12 mm/0.472 in

Height (from upper edge of DIN 35 rail) 64 mm

Length

Weight

Degree of protection

Data width, internal

100 mm

Approx. 55 g

IP20

8 bytes

12 bytes

16 bytes

20 bytes

24 bytes

32 bytes

40 bytes

48 bytes

4.5.2 Supply

Table 10: Technical Data ‒ S upply

Power supply

Current consumption, system voltage typ.

(5 V DC)

Current consumption max.

(24 V DC)

Voltage via power jumper contacts

Via system voltage local bus (5 V DC) and power jumper contacts (24 V DC)

50 mA

12 mA

24 V DC

(supply via e.g. 750-625)

Current via power jumper contacts max.

10 A

Power consumption P max.

Circa 0.5 W

Isolation (peak value) 500 V DC system / supply

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26 Device Description WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

4.5.3 CAN Communication

Table 11: Technical Data – CAN Communication

Baud rates CAN

Diagnostic information

10 kbit/s

20 kbit/s

50 kbit/s

125 kbit/s

250 kbit/s

500 kbit/s

800 kbit/s

1000 kbit/s

Auto baud rate

Local bus status via status byte, event codes via the mailbox

4.5.4 Connection Type

Table 12: Technical Data – Field Wiring

Wire connection

Cross section

Stripped lengths

CAGE CLAMP ®

0.08 mm² … 2.5 mm², AWG 28 … 14

8 mm … 9 mm / 0.33 in

Table 13: Technical Data – Power Jumper Contacts

Power jumper contacts Blade/spring contact, self-cleaning

Table 14: Technical Data – Data Contacts

Data contacts Slide contact, hard gold plated, selfcleaning

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4.5.5 Climatic Environmental Conditions


Table 15: Technical Data – Climatic Environmental Conditions

Surrounding air temperature, operation 0 °C … 55 °C

Surrounding air temperature, storage − 25 °C … +85 °C

Operating altitude

Relative humidity

Pollution degree without temperature derating:

0 … 2000 m; with temperature derating:

2000 … 5000 m (0.5 K/100 m); max.: 5000 m

Max. 5 % … 95 % without condensation

Protection type

Resistance to harmful substances

2

IP20

Acc. to IEC 60068-2-42 and

IEC 60068-2-43

Maximum pollutant concentration at relative humidity < 75 %

Special conditions

SO

2

H

2

≤ 25 ppm

S ≤ 10 ppm

Ensure that additional measures for components are taken, which are used in an environment involving:

– dust, caustic vapors or gases

– ionizing radiation

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28 Device Description WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

4.6 Approvals

The following approvals have been granted to 750-658 I/O modules:

Conformity Marking

UL508

Korea Certification MSIP-REM-W43-MSM750

The following Ex approvals have been granted to 750-658 I/O modules:

TÜV 14 ATEX 148929 X

II 3 G Ex nA IIC T4 Gc

IECEx TUN 14.0035 X

Ex nA IIC T4 Gc

C

UL

US

ANSI/ISA 12.12.01

Class I, Div2 ABCD T4

The following ship approvals have been granted to 750-658 I/O modules:

Federal Maritime and Hydrographic Agency

GL (Germanischer Lloyd) Cat. A, B, C, D (EMC 1)

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4.7 Standards and Guidelines

750-658 I/O modules meet the following requirements on emission and immunity of interference:

EMC CE-Immunity to interference

EMC CE-Immunity to interference

EMC CE-Emission of interference

EMC CE-Emission of interference

EN 61000-6-2

EN 61131-2

EN 61000-6-3 + A1

EN 61131-2

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30 Function Description

5

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Function Description

The I/O module has the following functions:

• CAN telegrams that contain user data can be copied to the process image of the input.

Received CAN telegrams can be transferred to the controller.

•

•

•

CAN telegrams can be sent to other CAN nodes.

Specific CAN bus diagnostics can be displayed.

The data can be transferred by the "Mailbox 2.0" protocol among others.

Use Mailbox 2.0!

Use IEC-61131 compliant function blocks to use Mailbox 2.0. You can download them at www.wago.com

.

Figure 7: Functional Description 750-658

5.1 Operating Modes

The I/O module can be operated in the following three modes:

•

•

•

Sniffer mode

Transparent mode

Mapped mode

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5.1.1 Sniffer Mode

Function Description 31

In "Sniffer mode", the I/O module is a passive node in the bus network. That means that the transmitter is deactivated from the hardware side. In this operating mode telegrams can only be sent and not sent in principle.

If CAN telegrams are received, no confirmation is sent to the sender.

Confirmation must be handled by a third node. At least two other CAN nodes must be available. Received telegrams are transferred to the higher-level controller via the "Mailbox 2.0" transmission protocol.

5.1.2 Transparent Mode

In "Transparent mode", the I/O module is an active node in the bus network. That means that the transmitter is activated from the hardware side. In this operating mode, telegrams can be received and sent.

If CAN telegrams are received, confirmation is sent to the sender. Received telegrams are transferred to the higher-level controller via that "Mailbox 2.0" transmission protocol.

5.1.3 Mapped Mode

The "Mapped mode" is fundamentally different from the other two modes. In this operating mode, incoming and outgoing CAN telegrams can be mapped to the process image without any protocol. Only user data and no control data is mapped.

5.1.3.1 Map CAN Telegrams in Input Direction

Up to 44 bytes can be configured in the process image of the input. During configuration, CAN telegrams can be selected from which a user data byte should be mapped. A more detailed description is available in the "Process

Image" section.

Figure 8: Map CAN Telegrams in Input Direction

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32 Function Description WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Once a CAN telegram is received, the bytes in question are updated in the process image of the input with the respective data.

5.1.3.2 Map CAN Telegrams in Output Direction

CAN telegrams can also be mapped in the output direction. However, it is somewhat more complex because individual settings are required for each telegram before it can be sent. When a configured CAN telegram is sent also depends on the trigger configuration. The following settings are possible:

•

•

•

Send on request

Send on change

Cycle time

Figure 9: Map CAN Telegrams in Output Direction

5.1.3.2.1 "Content of the CAN telegram" Setting

The content of the CAN telegram to send can be set in addition to the trigger.

The following settings are possible:

"Identifier extension bit" (IDE) Setting

The "Identifier extension bit" (IDE) can be used to set whether the output telegram should be one of the following:

•



For a "2.0A Standard Frame", 2 11

"2.0B Extended Frame", 2 29

(7FFh) is the largest possible CAN ID and for

(1FFFFFFF) is the largest.

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"Remote Transmission Request" (RTR) Setting


The "Remote Transmission Request" bit can used to set whether the mapped

CAN output frame involves a so-called "remote request" or a data frame.

"Data Length Code" (DLC) Setting

The "Data Length Code" (DLC) can be used to specify how many user data bytes there should be in the CAN telegram.

The user data bytes do not have to match the mapped bytes on the process image in terms of quantity. A fixed value can be specified for all non-mapped data bytes.

Fixed values can be specified for data storage areas that have been defined in the DLC, but not mapped variably in the process image. These values are then automatically copied to the user data when a telegram in the output direction is generated.

5.1.3.2.2 "Send on request" Setting

In this setting, CAN telegrams are send via the so-called "toggle byte" in the process image. Send groups can be assigned to telegrams to be sent.

If one or more bits are inverted in the toggle byte, the respective send groups are affected. All assigned telegrams are created and sent.

Table 16: Toggle Byte

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

Toggle byte Group 8 Group 7 Group 6 Group 5 Group 4 Group 3 Group 2 Group 1

The I/O module then confirms transmission by inverting the associated bit of the toggle byte in the process image of the input.

If several send groups are selected, they are sent one after the other: Group 1 has the highest send priority, Group 8 has the lowest.

5.1.3.2.3 "Send on change" Setting

If this setting is enabled, the CAN telegram is sent when a mapped byte has been sent. The mapped and fixed values are applied.

5.1.3.2.4 "Cycle Time" Setting

A cycle time can be set for each CAN telegram to sent. The telegram is then created and sent repeatedly by the I/O module. The time interval between two transmissions is the cycle time. It can also be a telegram that contained no data from the process image of the output, rather fixed values only.

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34 Function Description WAGO-I/O-SYSTEM 750

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5.1.3.3 Access CAN Telegrams via the Mailbox

CAN telegrams of a defined range can also be received and sent via the mailbox.

The data format is identical to the data formats of the "Sniffer" and "Transparent" operating modes.

Note modified access times!

Communication via the mailbox is slower, but it is possible in this option to access selected CAN telegrams acyclically (e.g. comparable to "SDO" and

"EMCY" functionalities).

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WAGO-I/O-SYSTEM 750

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5.2 Filter Settings

With 6 configurable pass-through filters, the bandwidth of the CAN telegrams for the user transmitted to the controller can be limited to specific ranges. This saves resources on the control level and in the I/O module.

A CAN ID can be specified for the upper and lower limits per filter. The value of the upper limit must be greater than or equal to the value of the lower limit.

Otherwise, the I/O module will output an error message. Only the telegrams are transmitted that fall within the filter limits.

Transmission of CAN telegrams from the I/O module to the controller can take more time than receiving these telegrams on the CAN bus. Thus, several CAN telegram of the same CAN ID may be cached in the I/O module. The following settings can be made:

1.

"Overwrite"

2.

"Keep All"

5.2.1 "Overwrite" Setting

If this setting is selected, newly received telegrams are overwritten when telegrams of the same CAN ID are received. This requires that the received telegram has not yet been forwarded to the controller. The system workload can be reduced significantly.

Do not select "Overwrite" for protocol data!

The "Overwrite" setting should not be selected when protocol data of higher layers (e.g. SDOs, etc.) is transmitted. It may be unusable because all data of a

CAN ID is required in general. Select the "Keep All" setting here.

5.2.2 "Keep All" Setting

If this setting is selected, received telegrams are not overwritten, rather forwarded to the controller sequentially. Only use this setting when data usage of received

CAN telegrams is low.

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36 Process Image

6

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Process Image

The first byte of the local bus process image is:

•

• The control byte in the process output direction

The status byte in the process input direction

The mailbox is static in the process image and is cross-faded when register communication is on.

During register communication, the register query response is contained in the status byte followed by 2 bytes of register data.

If the mailbox is active, status information of the I/O module is displayed cyclically via the status byte.

Control byte

Table 17: Control Byte

Bit 7

0

1

* Reserved

Bit 6 res.*

0 = Read register

1 = Write register

Control Byte

Bit 5 Bit 4 res.* res.*

Bit 3 res.*

Bit 2 res.*

Register number

Bit 1 res.*

Bit 0 res.*

Status byte

Table 18: Status Byte

Bit 7

0

1

Bit 6

GEN_

ERR

Res.

Bit 5

Status Byte

Bit 4 Bit 3

CAN_

ERR

Bit 2

TX_

OVF

Register number

Bit 1

RX_

OVF

Bit 0

INT_

ERR

(Bit 7) 0 Mailbox 0 active

1 Register communication enabled

GEN_ERR 0 No error on the CAN Bus.

1 Error on the CAN bus. Set when one of the bits 0…5 = 1.

CAN_ERR 0 No error on the CAN Bus.

1 Error on the CAN bus.

TX_OVF 0 Send buffer OK.

1 Send buffer overflow (downstream). No data can be received by the I/O module.

RX_OVF 0 Receive buffer OK.

1 Receive buffer overflow (upstream). No data can be received by the I/O module.

INT_ERR 0 No internal error.

1 Internal error. Possible causes:

• 24V field supply missing

• Communication via mailbox and process data faulty

• Faulty parameterization request

• Faulty register request

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Process Image 37

6.1 Process Image in "Sniffer" Operating Mode

The CAN user data range on the process image is symmetrical for both data directions.

Figure 10: Process Image in "Sniffer" Mode

6.1.1 Mailbox

Modules with mailbox functionality have an acyclic communication channel

(mailbox) in the process image. The "Mailbox 2.0" (referred to below as

"mailbox") transmission method is the basis.

If the Mailbox is active (control byte, bit 7 = 0), it is used to transfer configuration, parameterization and diagnostic data. Bytes 1 to 6 of the local process image are used by default. Additional information about the "Mailbox 2.0 Transmission

Method" is available in the respective section in the appendix.

6.1.2 CAN User Data Range

The CAN user data range is a fixed component of the "Sniffer" and "Transparent" operating modes (see respective section). CAN telegrams are transmitted via the

"Mailbox 2.0" communication mechanism. The mechanism supports the following two types of telegrams:

•



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38 Process Image WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

If the "2.0A Standard Frame" is activated, CAN telegrams have the following structure:

Table 19: Structure of CAN Telegrams with the "2.0A Standard Frame" Setting

Byte Name Bits

ID.10 ID.9 ID.8 ID.7 ID.6 ID.5 ID.4 ID.3

2 Data

3 Data

4 Data

5 Data

6 Data

7 Data

8 Data

9 Data

ID.2 ID.1 ID.0 RTR DLC.3 DLC.2 DLC.1 DLC.0

TR/RX Data Byte 1

TR/RX Data Byte 2

TR/RX Data Byte 3

TR/RX Data Byte 4

TR/RX Data Byte 5

TR/RX Data Byte 6

TR/RX Data Byte 7

TR/RX Data Byte 8

If the "2.0B Extended Frame" setting is activated, CAN telegrams have the following structure:

Table 20: Structure of CAN Telegrams with the "2.0B Extended Frame" Setting

Byte Name Bits

RES RES RES ID.28 ID.27 ID.26 ID.25 ID.24



5 Data

6 Data

7 Data

8 Data

9 Data

10 Data

11 Data

12 Data


IDE RTR RES RES DLC.3 DLC.2 DLC.1 DLC.0

TR/RX Data Byte 1

TR/RX Data Byte 2

TR/RX Data Byte 3

TR/RX Data Byte 4

TR/RX Data Byte 5

TR/RX Data Byte 6

TR/RX Data Byte 7

TR/RX Data Byte 8

The actual length of the data to be transmitted is based on the length of the user data. It may vary.

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Process Image 39

6.2 Process Image in "Transparent" Operating Mode

The CAN user data range on the process image is symmetrical for both data directions.

Figure 11: Process Image in the "Transparent" Operating Mode

6.2.1 Mailbox

See section "Mailbox" in the "Sniffer" operating mode.

6.2.2 CAN User Data Range

See section "CAN User Data Range" in the "Sniffer" operating mode.

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40 Process Image WAGO-I/O-SYSTEM 750

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6.3 Process Image in the "Mapped" Operating Mode

Figure 12: Process Image in the "Mapped" Operating Mode

6.3.1 Mailbox

See section "Mailbox" in the "Sniffer" operating mode.

6.3.2 Toggle Byte

The toggle byte is a fixed component of the "Mapped" operating mode (see respective section). It is one byte and is used to send CAN telegrams on request.

If one or more bits are inverted, the respective send groups are affected. All assigned telegrams are created and sent. The toggle byte is behind the last byte of the mailbox.

Table 21: Toggle Byte


Toggle byte Group 8 Group 7 Group 6 Group 5 Group 4 Group 3 Group 2 Group 1

6.3.3 Mapped Cyclical Data (CAN User Data)

The mapped user data D0 to D7 of all configured CAN telegrams is found within this range.

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7 Mounting

Mounting 41

7.1 Mounting Sequence

Fieldbus couplers, controllers and I/O modules of the WAGO-I/O-SYSTEM 750 are snapped directly on a carrier rail in accordance with the European standard

EN 60175 (DIN 35).

The reliable positioning and connection is made using a tongue and groove system. Due to the automatic locking, the individual devices are securely seated on the rail after installation.

Starting with the fieldbus coupler or controller, the I/O modules are mounted adjacent to each other according to the project design. Errors in the design of the node in terms of the potential groups (connection via the power contacts) are recognized, as the I/O modules with power contacts (blade contacts) cannot be linked to I/O modules with fewer power contacts.

Risk of injury due to sharp-edged blade contacts!

The blade contacts are sharp-edged. Handle the I/O module carefully to prevent injury. Do not touch the blade contacts.

Insert I/O modules only from the proper direction!

All I/O modules feature grooves for power jumper contacts on the right side. For some I/O modules, the grooves are closed on the top. Therefore, I/O modules featuring a power jumper contact on the left side cannot be snapped from the top. This mechanical coding helps to avoid configuration errors, which may destroy the I/O modules. Therefore, insert I/O modules only from the right and from the top.

Don't forget the bus end module!

Always plug a bus end module (750-600) onto the end of the fieldbus node! You must always use a bus end module at all fieldbus nodes with WAGO-I/O-

SYSTEM 750 fieldbus couplers or controllers to guarantee proper data transfer.

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42 Mounting

7.2 Inserting and Removing Devices

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Do not work when devices are energized!

High voltage can cause electric shock or burns.

Switch off all power to the device prior to performing any installation, repair or maintenance work.

7.2.1 Inserting the I/O Module

1.

Position the I/O module so that the tongue and groove joints to the fieldbus coupler or controller or to the previous or possibly subsequent I/O module are engaged.

Figure 13: Insert I/O Module (Example)

2.

Press the I/O module into the assembly until the I/O module snaps into the carrier rail.

Figure 14: Snap the I/O Module into Place (Example)

With the I/O module snapped in place, the electrical connections for the data contacts and power jumper contacts (if any) to the fieldbus coupler or controller or to the previous or possibly subsequent I/O module are established.

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Mounting 43

7.2.2 Removing the I/O Module

1.

Remove the I/O module from the assembly by pulling the release tab.

Figure 15: Removing the I/O Module (Example)

Electrical connections for data or power jumper contacts are disconnected when removing the I/O module.

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44 Connect Devices WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

8 Connect Devices

8.1 Connecting a Conductor to the CAGE CLAMP

®

The WAGO CAGE CLAMP ® finely stranded conductors.

connection is appropriate for solid, stranded and

Only connect one conductor to each CAGE CLAMP ® !

Only one conductor may be connected to each CAGE CLAMP ® .

Do not connect more than one conductor at one single connection!

If more than one conductor must be routed to one connection, these must be connected in an up-circuit wiring assembly, for example using WAGO feedthrough terminals.

1.

For opening the CAGE CLAMP ® above the connection.

insert the actuating tool into the opening

2.

Insert the conductor into the corresponding connection opening.

3.

For closing the CAGE CLAMP ® now clamped firmly in place.

simply remove the tool. The conductor is

Figure 16: Connecting a Conductor to a CAGE CLAMP ®

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Connect Devices 45

8.2 Connect CAN Bus

Connect a terminating resistor of 120 Ω parallel to the "CAN H" and "CAN L" lines if the I/O module is the last node in the CAN network.

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46 Configuration and Parameterization

9

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Configuration and Parameterization

You can commission, configure or parameterize in a variety of ways:

•

•

•

•

WAGO-I/OCHECK software

Software e!COCKPIT

WAGO-I/OPRO software with corresponding function block

"WagoLib_CAN.lib" of the WAGO-I/OPRO library

Configuration software using device description files (e.g. PROFIBUS-

GSD), see appendix, section "Configuration Using PROFIBUS GSD"

Configuration and parameterization via WAGO-I/OCHECK and WAGO-I/OPRO make use of acyclic communication via the Mailbox and register communication.

For access via the Mailbox, a parameter access service is provided by the I/O module. Register communication and the parameter access service are explained in the appendix, section "Register Communication" or "Mailbox 2.0

Transmission Method".

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Configuration and Parameterization 47

9.1 Configuration and Parameterization with

WAGO-I/OCHECK

The WAGO-I/OCHECK software from WAGO Kontakttechnik GmbH & Co. KG can be used to conveniently and completely configure and parameterize the I/O module:

•

•

•

Structure of the process image of the I/O module

Parameterization of the operating modes of the I/O module

Diagnostics of the I/O module

WAGO-I/OCHECK

You can obtain the WAGO-I/OCHECK software on a CD under Item No.

759-302. This CD contains all the application program files and an explanation.

You can find a description at the internet page at http://www.wago.com

To open the specific parameterization dialog for the I/O module, right-click on the

I/O module and select the Settings menu item (see the following figure).

Figure 17: WAGO-I/OCHECK User Interface

The configuration dialog appears which forms the basis for the following description.

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48 Configuration and Parameterization WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

9.1.1 Configuration Dialog

The configuration dialog is divided into the following areas:

Figure 18: Configuration Dialog of the I/O Module

1 Toolbar

2 Function area

3 Diagnosis area

These areas will be explained in more detail in the following sections.

9.1.1.1 Toolbar

The toolbar in the configuration dialog of the I/O module is divided into the following areas:

•

• Main menu

Application menu

Main Menu

The toolbar in the main menu contains the following buttons:

Figure 19: Buttons in the Main Menu

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Table 22: Buttons on the Main Menu

Button Function

[Disconnect]


Description

Interrupts an existing connection to the I/O module

[Sniffer Mode] Opens the function area for the "Sniffer" operating mode and puts the I/O module in this operating mode.

[Transparent Mode] Opens the function area for the

"Transparent" operating mode and puts the I/O module in this operating mode.

[Mapped Mode] Opens the function area for the "Mapped" operating mode and puts the I/O module in this operating mode.

[Read All] Lists are parameters from the I/O module

(see "Parameter Table" in the appendix).

[Write all] Writes all parameters to the I/O module

(see “Parameter Table” in the appendix).

[Retentive Saving] Saves all parameters of the I/O module in retentive memory (see "Parameter Table) in the appendix).

[CAN] Opens the separate "CAN Parameters" dialog to set the CAN parameters.

[Filter] Opens the separate "Filters" dialog to set the filters.

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Table 22: Buttons on the Main Menu

Button Function

[PII]

[PIO]

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Description

Opens the specific "PII" function area in the "Mapped" operating mode.

Opens the specific "PIO" function area in the "Mapped" operating mode.

Application Menu

The toolbar in the application menu contains the following buttons:

Figure 20: Buttons in the Application Menu

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Table 23: Buttons in the Application Menu

Button Function

[Open]

[Save]

[Configuration]

[Help]

[Info]


[Factory Settings]

Description

Opens an existing parameter file

(see section "Load Parameters into the Application").

Saves all read parameters in a parameter file. WAGO-I/OCHECK displays the default dialog for saving files.

Opens the separate

"Configuration" dialog to set the configuration parameters (see section "Configuration Dialog").

Resets the I/O module to the factory settings.

Opens the WAGO-I/OCHECK online help.

Opens the information dialog.

[Exit]

Closes the configuration dialog.

The "View" menu item is only displayed in the "Mapped" operating mode.

9.1.1.2 Function Area

The function area differs according to the operating mode set. The specific structure is explained in more detail in the following sections.

9.1.1.3 Diagnosis Area

The received diagnostics are displayed in the diagnosis area. The following interaction options are available:

•

• [Delete]

Scrollbar

button: Deletes the existing list.

To delete the existing list, click the [Delete] button.

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750-658 CAN Gateway

9.1.2 Load Parameters into the Application

To load parameters into the application:

1.

Click the [Open] button. WAGO-I/OCHECK displays the default dialog for opening files.

2.

Select a parameter file.

3.

In the "Select data" dialog, select the parameters to be loaded from the file.

Only parameters in the selected file can be selected.

More information on the listed parameters is available in the “Parameters in the ‘Select Data’ Dialog”.

4.

Click the [Load] button.

All selected parameters are loaded in the application. The selected parameters

“Configuration”, “Operating Mode” and “CAN Parameters” are also written to the

I/O module.

Figure 21: "Select Data" Dialog

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Parameters in the “Select Data” Dialog

Table 24: Parameters in the “Select Data” Dialog

Check Box

Configuration

Operating mode

CAN parameter

Filter

Mapping rule (input)

Mapping rule (output)

Write all selected data after loading into the I/O module.

Save permanently.

Description

If the checkbox is selected, the selected parameters are automatically written to the I/O module after loading.

This not applicable if the values to be written are identical to the values in the application!

If the checkbox is selected, the selected parameters are loaded in the application.

If the checkbox is selected, the selected parameters ...

• “Filter”

• “Mapping rule (input)”

• “Mapping rule (output)”

... are also written to the I/O module.

If the checkbox is selected, all parameters are saved permanently after writing.

Coupler/controller restarts if process image size differs!

If the process image size difference between the loaded configuration and application, the coupler/controller restarts after writing the configuration data.

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9.1.3 "Configuration" Dialog

The "Configuration" dialog can be used to set the configuration for the process image (see appendix).

9.1.3.1 Set Mailbox Diagnosis

Select the "On" setting in the "Mailbox Diagnosis" checkbox to turn on advanced mailbox diagnostics.

Figure 22: Turn on Advanced Mailbox Diagnostics

If there is an error, an error code appears in the diagnostics area and an LED lights up on the I/O module.

There is different signaling depending on the error type:

•

•

•

"ERROR" error type: A red LED lights up.

"WARNING" error type: A yellow LED lights up.

"NOTIFICATION" error type: A green LED lights up.

•

•

A message is also generated in WAGO-I/OCHECK depending on the error type:

"Singleshot" error type: A message is sent if an error occurs.

"Appears/Disappears" error type: and an error has been corrected.

A message is sent if an error occurs

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The diagnostics and their meaning can be found in the table “Diagnostics“ in

Section “Diagnostics“.

9.1.3.2 Set Mailbox Length

Specify how large the mailbox should be (in bytes). Enter the corresponding value in the "Length" input field.

Figure 23: Set Mailbox Length

Set the mailbox size in the "Sniffer" and "Transparent" operating modes

Set the mailbox in these operating modes to values between 2 and 6 bytes to have the greatest possible data throughput.

Set the mailbox size in the "Mapped" operating mode

Set the mailbox in this operating mode to values between 2 and 6 bytes to achieve the greatest possible data throughput to which CAN telegrams can be mapped!

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9.1.3.3 Setting the Process Image Size

Set the process image size. The following settings are possible: 8 bytes,

12 bytes, 16 bytes, 20 bytes, 24 bytes, 32 bytes, 40 bytes and 48 bytes.

Figure 24: Setting the Process Image Size

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9.1.4 Function Area in the "Sniffer Mode"

All CAN telegrams received are listed in the "Receive" dialog.

Figure 25: Function Area in the "Sniffer Mode"

•

•

The following interaction options are available:

[Delete]

Scrollbar


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9.1.5 Function Area in the "Transparent Mode"

WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

All CAN telegrams received are listed in the "Received" dialog.

Figure 26: Function Area in the "Transparent Mode"

•

•

•

•

•

•


[Delete]

Scrollbar


The content of a CAN telegram to be sent can be defined in the "Send" dialog.


[Send] button : Sends the CAN telegram.

CAN-ID input field: The CAN ID of the CAN telegram to be sent can be entered here in hexadecimal format. If the input field is active, the maximum value is 1FFFFFFFh. If the input field is not active, the maximum value is 7FFh.

IDE checkbox: If the checkbox is selected, CAN telegrams of type

"2.0B Extended" are sent with 29-bit identifier. If the checkbox is not selected, CAN telegrams of type "2.0A Standard" are sent with 11-bit identifier.

RTR checkbox: If the checkbox is selected, CAN telegrams are sent with activated "Remote Transmit Request". If the checkbox is not selected, data telegrams are sent.

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• DLC


input field: The user data length of the CAN telegram to send can be specified here (value range 0 - 8).

• Data input field: The user data of the CAN telegram to be sent can be entered here in hexadecimal format. If the input is correct, the [Send] button is active. If the input is not correct, the [Send] button remains inactive. CAN telegrams are not sent if the button is inactive.

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9.1.6 Function Area in the "Mapped Mode"

In the "View" menu item, the "PII" (process image of the input) and "PIO"

(process image of the output) views can be selected. The function area changes according to the selected setting.

9.1.6.1 "PII" View

There are two different display windows in the function area:

•

• The process image-oriented display (left)

The CAN display (right)

These show the current mapping rules for the process image of the input.

Figure 27: Function Area in the "Mapped Mode" – "PII" View

•


[Add] button: Opens the "Add mapping rule" dialog to go to the configuration dialog. The following interaction options are available in the dialog itself:

CAN ID input field: The CAN ID of the CAN telegram to map can be entered here in hexadecimal format.

Input fields for data bytes (D0 … D7) : The position of the index is entered on which the user data of the respective data byte (D0 … D7) is copied to the process image.

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[Add] button: Adds the created mapping rule to the list of mapping rules and closes the dialog.

[Cancel] button: Cancels the process and closes the dialog.

•

Figure 28: "Add mapping rule" Dialog

[Change] button: Opens the "Change mapping rule" dialog to go to the configuration dialog. All values except the CAN ID can be edited. The interaction options are identical to those in the "Add mapping rule" dialog.

•

•

•

Figure 29: "Change mapping rule" Dialog

[Delete] button: Deletes the selected mapping rule.

[Read] button: Reads the list of mapping rules saved in the I/O module.

[Write] button: Saves the list of mapping rules in the I/O module.

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9.1.6.2 "PIO" View

There are two different display windows in the function area:

•

• The process image-oriented display (left)

The CAN display (right)

These show the current mapping rules for the process image of the output.

Figure 30: Function Area in the "Mapped Mode" – "PIO" View

•


[Add] button: Opens the "Add mapping rule" dialog to go to the configuration dialog. The following interaction options are available in the dialog itself:

CAN ID input field: The CAN ID of the CAN telegram to map can be entered here in hexadecimal format.

DLC drop-down list: The user data length of the CAN telegram to be sent can be selected here (value range 0 … 8). Depending on the select, corresponding user data input fields appear at the bottom of the window.

Input field for data bytes (D0 … D7) : The position of the index entered here describes the position in the process image, whose value is copied to the respective data byte (D0 … D7).

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[Fix] button : If the button is active, the entered value is copied to the user data byte of the CAN telegram as a fixed value.

IDE checkbox: If the checkbox is selected, CAN telegrams of type

"2.0B Extended" are sent with 29-bit identifier. If the checkbox is not selected, CAN telegrams of type "2.0A Standard" are sent with 11-bit identifier.

RTR checkbox: If the checkbox is selected, CAN telegrams are sent with activated "Remote Transmit Request Bit". If the checkbox is not selected, data telegrams are sent.

Send on change checkbox: If the checkbox is selected, a CAN telegram can be generated and sent if the respective byte changes in the process image of the output.

Send group drop-down list: The selected CAN telegram can be assigned to one or 8 send groups.

Cycle time (ms) input field: The cycle time can be entered here. If the value set is greater than 0 ms, the selected CAN telegram is generated and sent when the time has elapsed.

[Add] button: Adds the created mapping rule to the list of mapping rules and closes the dialog.

[Cancel] button: Cancels the process and closes the dialog.

Figure 31: "Add mapping rule" Dialog

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[Change] button: Opens the "Change mapping rule" dialog to go to the configuration dialog. All values except the CAN ID can be edited. The interaction options are identical to those in the "Add mapping rule" dialog.

•

•

•

Figure 32: "Change mapping rule" Dialog

[Delete] button: Deletes the selected mapping rule.

[Read] button: Reads the list of mapping rules saved in the I/O module.

[Write] button: Saves the list of mapping rules in the I/O module.

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9.1.7 "CAN Parameter" Dialog

You can set parameters across operating modes in the "CAN Parameters" dialog.

9.1.7.1 Select CAN Data Format

Click in the "Data Format" selection box to select a data format. You can select the following formats:

•

• "2.0A Standard (11 bit)"

"2.0B Extended (29 bit)"

If the "2.0A Standard (11 bit)" format is selected, only CAN telegrams with 11-bit identifier are sent and received.

If the "2.0B Extended (29 bit)" format is selected, CAN telegrams of the "2.0B

Extended (29 bit)" format are sent in the send direction. In the receive direction,

CAN telegrams of both formats are received.

Figure 33: Set CAN Data Format

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9.1.7.2 Set CAN Baud Rate

Click in the "Baud Rate" selection box to select a baud rate. The following settings are possible: 10 kBit/s, 20 kBit/s, 50 kBit/s, 125 kBit/s, 250 kBit/s,

500 kBit/s, 800 kBit/s, 1000 kBit/s and "Auto-Baudrate".

Figure 34: Set CAN Baud Rate

If the "Auto-Baud Rate" setting is selected, the baud rate is changed cyclically every 100 ms. A scan process occurs during this time. Once the I/O module has correctly received a telegram, the baud rate for this telegram is applied.

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9.1.8 "Filter" Dialog

With 6 configurable pass-through filters, the bandwidth of received CAN telegrams for the user can be limited to specific ranges. This saves resources on the control level and in the I/O module.

Figure 35: Selecting a Filter

To select a filter, proceed as follows:

1.

Select one or more of 6 pass-through filters. Activate the respective

"Activated" checkbox after the filter.

2.

Specify the upper and lower limits for the selected filter. Enter the respective values in the "Lower CAN ID" and "Upper CAN ID" input fields.

3.

Specify whether received telegrams of the same CAN ID should be overwritten or saved:

• Select "Overwrite" if the received telegrams with the same CAN ID should be overwritten. This requires that the received telegram has not yet been forwarded to the controller.

• Select "Keep All" if received telegrams should be forwarded sequentially to the controller.

4.

Click the [Write] button.

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Do not select the "Overwrite" setting for protocol data!

The "Overwrite" setting should not be selected when protocol data is transmitted.

The protocol data may be unusable because all data of a CAN ID is required in general. Select the "Keep All" setting here.

CAN telegrams of a defined range can also be received and sent via the mailbox.

Figure 36: Send CAN Telegrams via the Mailbox

To select this option, proceed as follows:

1.

Select the "Activated" checkbox.

2.

Specify the upper and lower limits. Enter the respective values in the

"Lower CAN ID" and "Upper CAN ID" input fields.

3.

Click the [Write] button.

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9.2 Configuration and Parameterization with e!COCKPIT

Configuration and parameterization differ only slightly in in e!COCKPIT and

WAGO-I/OCHECK . For that reason, only the deviations are explained that apply to the e!COCKPIT software.

Configuration and Parameterization in the e!COCKPIT Software!

General information on configuration and parameterization in the e!COCKPIT software is available in the respective manual! This manual has item No. 2759-

0101 and can be downloaded at www.wago.com!

•

•

•

•

There are the following deviations:

General:

The “Load” and “Save” functions are automated in the application. Some files cannot be manually loaded or saved. Therefore, the [Open] and

[Save] buttons are not available in the application menu.

Initial start of the application:

When initially starting the application from e!COCKPIT , all parameters are read from the I/O module automatically. Once you exit the application, the parameters are automatically saved as “Offline parameters”.

Starting the application:

When starting the application again, the existing offline parameters and the

I/O module parameters are compared. If they differ, the “Parameter

Comparison” dialog appears. This dialog is described below.

“Parameter Comparison” dialog:

Figure 37: “Parameter Comparison” Dialog

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9.3 Startup with WAGO-I/OPRO

The WAGO-I/OPRO library "WagoLib_CAN_Gateway.lib" provides the option to start up the I/O module using the corresponding function blocks.

Library cannot be used to set the process image size!

The WAGO-I/OPRO library "WagoLib_CAN_Gateway.lib" is not used to set the process image size.

Additional information

The WAGO-I/OPRO library "WagoLib_CAN_Gateway.lib" and a detailed description are available on the Internet at http://www.wago.de

.

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Diagnostics 71

10 Diagnostics

The following diagnostics are output via mailbox and can also be viewed via the respective user interface:

Table 25: Diagnostics

Error code LED Diagnostics Explanation

3E8 (1000) Red CAN Stuff Error There is a single error on the CAN bus.

3E9 (1001) Red CAN Form Error There is a single error on the CAN bus.

There is no acknowledgement from the receiver after a CAN telegram was sent.

There is a single error on the CAN bus.

3ED (1005) Red CAN CRC Error

There is a single error on the CAN bus.

Faulty CRC of a received CAN telegram

There is an internal interface error.

3EF (1007) Red

Error

CAN HW in

BUS OFF State

Error

I/O module in "BUS OFF State"

3F0 (1008)

3F2 (1010)

Red CAN Rx Error

Red CAN Tx Error

The internal counter (receive direction) is greater than 127. The I/O module is initialized again.

The internal counter (receive direction) is greater than 96.

The internal counter (send direction) is greater than 127. The I/O module is initialized again.

The internal counter (send direction) is greater than 96.

3F4 (1012) Red CAN Transmit

3F6 (1014) Red CAN RX0 Overrun

3F7 (1015) Red CAN RX1 Overrun

Buffer overrun of the CAN buffer

(receive direction)  Data loss

Buffer overrun of the CAN buffer

(receive direction)  Data loss

Buffer overrun (send direction)  Data loss

3F8 (1016) Red CAN TX Overrun

3FA (1018) Red

CAN Upstream

FIFO Overflow

Error

3FB (1019) Red

CAN Downstream

FIFO Overflow

Error

Error when sending a CAN telegram

Internal buffer overflow (receive direction)

Internal buffer overflow (send direction)

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72 Diagnostics WAGO-I/O-SYSTEM 750

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Table 25: Diagnostics

Error code LED Diagnostics

7D0 (2000) Red General Error

Explanation

Internal error

The 24 V power supply is disconnected.

Advanced register communication: general error

Advanced register communication: access denied

Advanced register communication:

Table is read-only.

Advanced register communication:

Length of the telegram is wrong.

7D7 (2007) Red

7D8 (2008) Red

ExtRegCom

Unknown Table

Err

ExtRegCom

Unknown Register

Err

Advanced register communication: unknown table error

Advanced register communication: unknown register error

7D9 (2009) Red Cmd Interface Err Command interface: general error

7DA (2010) Red Param Chnl Err Parameter channel: general error

7DB (2011) Red Reg Com Err

BB8 – BD7

(3000 –

3031)

Register communication: general error

Parameterization mailbox error

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Use in Hazardous Environments 73

11 Use in Hazardous Environments

The WAGO-I/O-SYSTEM 750 (electrical equipment) is designed for use in Zone

2 hazardous areas and shall be used in accordance with the marking and installation regulations.

The following sections include both the general identification of components

(devices) and the installation regulations to be observed. The individual subsections of the “Installation Regulations” section must be taken into account if the I/O module has the required approval or is subject to the range of application of the ATEX directive.

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74 Use in Hazardous Environments WAGO-I/O-SYSTEM 750

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11.1 Marking Configuration Examples

11.1.1 Marking for Europe According to ATEX and IECEx

Figure 38: Marking Example According to ATEX and IECEx

Figure 39: Text Detail – Marking Example According to ATEX and IECEx

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Table 26: Description of Marking Example According to ATEX and IECEx

Marking Description

TUEV 07 ATEX 554086 X

IECEx TUN 09.0001 X

Approving authority resp. certificate numbers

Dust

II

3 D

Equipment group: All except mining

Category 3 (Zone 22)

Explosion protection mark Ex tc

IIIC

T135°C

Dc

Mining

I

Type of protection: Protection by enclosure

Explosion group of dust

Max. surface temperature of the enclosure

(without a dust layer)

Equipment protection level (EPL)

Equipment group: Mining

Category: High level of protection M2

Ex d

I

Mb

Gases

II

3 G

Ex nA

IIC

T4

Gc

Explosion protection mark

Type of protection: Flameproof enclosure

Explosion group for electrical equipment for mines susceptible to firedamp



Category 3 (Zone 2)


Type of protection: Non-sparking equipment

Explosion group of gas and vapours

Temperature class: Max. surface temperature

135 °C


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Figure 40: Marking Example for Approved Ex i I/O Module According to ATEX and IECEx

Figure 41: Text Detail – Marking Example for Approved Ex i I/O Module According to ATEX and

IECEx

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Table 27: Description of Marking Example for Approved Ex i I/O Module According to ATEX and

IECEx


TUEV 12 ATEX 106032 X

IECEx TUN 12 0039 X

Approving authority resp. certificate numbers

Dust

II Equipment group: All except mining

3 (1) D

Ex tc

Category 3 (Zone 22) equipment containing a safety device for a category 1 (Zone 20) equipment


Type of protection: Protection by enclosure

[ia Da]

IIIC

T135°C

Type of protection and equipment protection level

(EPL): Associated apparatus with intrinsic safety circuits for use in Zone 20

Explosion group of dust

Max. surface temperature of the enclosure

(without a dust layer)

Equipment protection level (EPL) Dc

Mining

I

M2 (M1)

Ex d

[ia Ma]

I

Mb

Gases

II

3 (1) G

Equipment Group: Mining

Category: High level of protection with electrical circuits which present a very high level of protection


Type of protection: Flameproof enclosure


(EPL): Associated apparatus with intrinsic safety electrical circuits

Explosion group for electrical equipment for mines susceptible to firedamp


Ex ec

[ia Ga]


Category 3 (Zone 2) equipment containing a safety device for a category 1 (Zone 0) equipment


Equipment protection by increased safety “e”


(EPL): Associated apparatus with intrinsic safety circuits for use in Zone 0

IIC

T4

Gc

Explosion group of gas and vapours

Temperature class: Max. surface temperature

135 °C


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11.1.2 Marking for the United States of America (NEC) and Canada

(CEC)

Figure 42: Marking Example According to NEC

Figure 43: Text Detail – Marking Example According to NEC 500

Table 28: Description of Marking Example According to NEC 500


CL I

DIV 2

Explosion protection (gas group)

Area of application

Grp. A B C D op temp code T4

Explosion group (gas group)

Temperature class

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Figure 44: Text Detail – Marking Example for Approved Ex i I/O Module According to NEC 505

Table 29: Description of Marking Example for Approved Ex i I/O Module According to NEC 505


CI I,

Zn 2

Explosion protection group

Area of application

AEx nA

[ia Ga]


Type of protection

Type of protection and equipment protection level (EPL): Associated apparatus with intrinsic safety circuits for use in Zone 20

IIC

T4

Gc

Group

Temperature class


Figure 45: Text Detail – Marking Example for Approved Ex i I/O Module According to NEC 506

Table 30: Description of Marking Example for Approved Ex i I/O Modules According to NEC 506


CI I, Explosion protection group

Zn 2

AEx nA

[ia IIIC]

Area of application


Type of protection


IIC

T4

Gc

Group

Temperature class


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Figure 46: Text Detail – Marking Example for Approved Ex i I/O Modules According to CEC 18 attachment J

Table 31: Description of Marking Example for Approved Ex i I/O Modules According to CEC 18 attachment J

Marking

Dust

Description

Ex Explosion protection mark nA

[ia IIIC]

Type of protection


IIC

T4

Gc

X

Gases

Ex nA

[ia Ga]

Group

Temperature class


Symbol used to denote specific conditions of use


Type of protection


IIC

T4

Gc

X

Group

Temperature class


Symbol used to denote specific conditions of use

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11.2 Installation Regulations

For the installation and operation of electrical equipment in hazardous areas, the valid national and international rules and regulations which are applicable at the installation location must be carefully followed.

11.2.1 Special Notes Regarding Explosion Protection

The following warning notices are to be posted in the immediately proximity of the

WAGO-I/O-SYSTEM 750 (hereinafter “product”):

•

•

•

•

•

•

•

•

WARNING – DO NOT REMOVE OR REPLACE FUSED WHILE ENERGIZED!

WARNING – DO NOT DISCONNECT WHILE ENERGIZED!

WARNING – ONLY DISCONNECT IN A NON-HAZARDOUS AREA!

Before using the components, check whether the intended application is permitted in accordance with the respective printing. Pay attention to any changes to the printing when replacing components.

The product is an open system. As such, the product must only be installed in appropriate enclosures or electrical operation rooms to which the following applies:

Can only be opened using a tool or key

Inside pollution degree 1 or 2

In operation, internal air temperature within the range of 0 °C ≤ Ta ≤ +55 °C or −20 °C ≤ Ta ≤ +60 °C for components with extension number …/025-xxx or −40 °C ≤ Ta ≤ +70 °C for components with extension number …/040-xxx

Minimum degree of protection: min. IP54 (acc. to EN/IEC 60529)

For use in Zone 2 (Gc), compliance with the applicable requirements of the standards EN/IEC/ABNT NBR IEC 60079-0, -7, -11, -15

For use in Zone 22 (Dc), compliance with the applicable requirements of the standards EN/IEC/ABNT NBR IEC 60079-0, -7, -11, -15 and -31

For use in mining (Mb), minimum degree of protection IP64 (acc. EN/IEC

60529) and adequate protection acc. EN/IEC/ABNT NBR IEC 60079-0 and

-1

Depending on zoning and device category, correct installation and compliance with requirements must be assessed and certified by a “Notified

Body” (ExNB) if necessary!

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Explosive atmosphere occurring simultaneously with assembly, installation or repair work must be ruled out. Among other things, these include the following activities

•

• Insertion and removal of components

Connecting or disconnecting from fieldbus, antenna, D-Sub, ETHERNET or

USB connections, DVI ports, memory cards, configuration and programming interfaces in general and service interface in particular:

• Operating DIP switches, coding switches or potentiometers

• Replacing fuses

•

Wiring (connecting or disconnecting) of non-intrinsically safe circuits is only permitted in the following cases

The circuit is disconnected from the power supply.

• The area is known to be non-hazardous.

Outside the device, suitable measures must be taken so that the rated voltage is not exceeded by more than 40 % due to transient faults (e.g., when powering the field supply).

Product components intended for intrinsically safe applications may only be powered by 750-606 or 750-625/000-001 bus supply modules.

Only field devices whose power supply corresponds to overvoltage category I or

II may be connected to these components.

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11.2.2 Special Notes Regarding ANSI/ISA Ex

For ANSI/ISA Ex acc. to UL File E198726, the following additional requirements apply:

•

•

•

•

•

Use in Class I, Division 2, Group A, B, C, D or non-hazardous areas only

ETHERNET connections are used exclusively for connecting to computer networks (LANs) and may not be connected to telephone networks or telecommunication cables

WARNING – The radio receiver module 750-642 may only be used to connect to external antenna 758-910!

WARNING – Product components with fuses must not be fitted into circuits subject to overloads!

These include, e.g., motor circuits.

WARNING – When installing I/O module 750-538, “Control Drawing No.

750538” in the manual must be strictly observed!

Additional Information

Proof of certification is available on request.

Also take note of the information given on the operating and assembly instructions.

The manual, containing these special conditions for safe use, must be readily available to the user.

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84 Appendix WAGO-I/O-SYSTEM 750

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12 Appendix

12.1 Mailbox 2.0 Transmission Method

Mailbox 2.0 defines a service to transfer data full-duplex via a defined channel.

Sender Channel Receiver

Transmit data

Application A

Receive data

Transparent

Communication

(via Mailbox

2.0)

Receive data

Application B

Transmit data

Figure 47: Communication via Mailbox 2.0

Example:

A sender wants to transfer 10 bytes (the character string "Hello Wago") to a receiver via a 4-byte wide channel.

12.1.1 Message

The Mailbox 2.0 method packages the data in messages. A message contains a header and user data.

There are two message types.

Message with simple header: xx "H" "a" "I" "I" "o" " " "W" "a" "g" "o"

Message with extended header: xx xx xx "H" "a" "I" "I" "o" " " "W" "a" "g" "o"

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Structure of the simple header:

Table 32: Structure of the Simple Header

Simple header


0 Length

Appendix 85

Data element length max. 127 bytes

0: Simple header

Structure of the extended header:

Table 33: Structure of the Extended Header

Extended header

Bit 7 Bit 6 Bit 5 … 0 Bit 7 … 0

1 0 Length High Length Low

Bit 7 … 0

Protocol ID

Protocoll_ID 0..255

Data element length max. 16383 bytes

10: Extended header

A message that uses this header can contain 16383 bytes of user data. In addition, the message can have a protocol ID. This protocol ID allows the message to include a logical meaning.

12.1.2 Transmission Channel

To transfer a message over a narrow channel, synchronization between sender and receiver is required. Therefore, the transmission channel is divided into a synchronization part and a data part.

For synchronization, a so-called handshake byte (HB) is defined.

The handshake byte occupies the first byte of the transmission channel while part of the message is always delivered in the remaining bytes.

HB Part of the message

There is always one transmission channel from the sender to the receiver and one transmission channel from the receiver to the sender. Both channels do not have to be the same size. However, the minimum size is 1 byte.

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12.1.2.1 The Handshake Byte

In general, a distinction is made between Control(C) and Toggle(T) mode (bit 7).

The Control mode is used to synchronize the subscribers. The Toggle mode is used to exchange data.

Structure of the handshake byte:

Table 34: Structure of the Handshake Byte

Handshake byte


C/T

T

Status

Response

0x0

C/T

Control

T

Command

0x0

The following figure shows the basic use of the handshake byte.

Figure 48: Use of the Handshake Byte

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12.1.3 Communication Phases

The Mailbox 2.0 mechanism defines two communication phases:

Appendix 87

•

• Synchronization

Data exchange

Only after successful synchronization from sender to receiver the actual user data can be exchanged.

12.1.3.1 Synchronization

In the synchronization phase, the handshake byte is used in Control mode.

A distinction is made between interpretation as signaling mode and interpretation as command acknowledgement mode.

In command acknowledgement mode, the handshake byte appears as follows:

Status Nibble

Bit 3 Bit 2 Bit 1 Bit 0

0 Acknowledgement

Control Nibble


0 Command

The Control nibble is used to transfer a request while the Status nibble contains the response to the request.

12.1.3.1.1 Mailbox Commands

The following commands are defined:

Table 35: Commands

Value Explanation

0 INVALID

1 HOLD REQUEST

2 RESET REQUEST

3 ... 7 -

Description

Signals that the sender has not started operations again after a reset.

Notice that the channel is ready, but data is not currently being transferred

(e.g. because the output buffer is still empty)

Prompt to reset

(not supported, ignore)

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12.1.3.1.2 Acknowledgement

The following acknowledgements are defined:

Table 36: Acknowledgement


0

1

INVALID

Description

Signals that the receiver has not started operations again after a reset.

HOLD ACKNOWLEDGE Signal or confirmation that the channel is ready, but data is not currently being transferred (e.g. because there is not any data yet).

2 RESET ACKNOWLEDGE Response to "RESET REQUEST" when Mailbox in reset.

3 ... 7 - (not supported, ignore)

12.1.3.1.3 Signaling

In signal mode, the handshake byte appears as follows:

Table 37: Structure of the Handshake Byte

Handshake byte


0 0 Signal

Table 38: Signaling


0x00 INVALID SIGNAL

0x32

0x33

(other)

RESET SIGNAL

ERROR SIGNAL

-

Description

State of the process image with no effect by Mailbox 2.0

Shows that the local Mailbox is in the process of restarting

Shows that the local Mailbox is in the fault condition

Other values are not considered as signals and are processed separately in the Status or Control nibble.

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12.1.3.1.4 Finite Automation

Synchronization follows the chart below.

Appendix 89

Figure 49: Finite Automation

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12.1.3.2 Data Exchange

In the data exchange phase, the handshake byte is used in Toggle mode.

Because a message is normally larger than the data part of the transmission channel, the message must be transferred in several cycles (fragmentation).

Status Nibble


1 T 0x00

Control Nibble


1 T 0x00

Send fragment:

The first toggle bit expected by the receiver after synchronization has the value 0.

The toggle bit in the second fragment receives a 1, the toggle bit in the third fragment again a 0, etc. Only when the status of the toggle bit matches in the received status nibble is receipt of the fragment confirmed by the receiver. Only then can a new fragment be sent. As long as there is no confirmation, the fragment remains unchanged in the process image.

For the special case that the content of the send buffer is no longer sufficient to fill the transmission channel completely, the transmission channel is filled with zeros to the end.

Receive fragment:

The control now has to confirm receipt of this fragment. Receipt is confirmed by inverting the toggle bit of the status nibble to be sent.

Because the Mailbox 2.0 mechanism is full-duplex capable, data can be sent and received at the same time.

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12.1.3.2.1 Example

Appendix 91

The following example shows use of the transmission channel during a send operation (no full-duplex transmission):

Figure 50: Example of Send Operation

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12.2 Protocols Supported by Mailbox 2.0

Messages can be exchanged between different devices using the Mailbox 2.0 transfer procedure. Messages that are exchanged can be read by the communication partner only when they are structured in line with a known protocol. The Mailbox 2.0 transfer procedure uses the field "Protocol ID" of the expanded header to identify the protocol being used.

Each of the transmitted messages consists of the header and a protocol data unit

(PDU) whose length and structure are based on the specific protocol.

The I/O module supports the following protocols:

Table 39: Protocols Supported by Mailbox 2.0

Protocol ID Protocol Name Description

0x80 Parameter access

Protocol for reading and writing of parameters

0x81 Diagnostics Protocol for transfer of diagnostics messages

12.2.1 Protocol 0x80 (Parameter Access)

This protocol implements confirmed services for reading, writing, storing and restoring of parameters.

Table 40: Protocol 0x80, Description of Services

Service Description

Read Reading of a parameter addressed by a table and register number.

Write Writing of a parameter addressed by a table and a register number. Written values are initially saved only to a volatile memory. The service "Save" must be used to save parameters to a non-volatile memory.

Save

Restore

Save all parameters to a non-volatile memory.

Restore factory default settings. All current parameter values will be overwritten.

Set password You must perform this service one time before any parameters can be written.

The structure and length of the PDUs for this protocol differ for request and reply messages.

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Table 41: Protocol 0x80, PDU Structure

Service PDU

Request: Read

Request: Write

Request: Save

Request: Restore

Request: Set password

Reply without parameter

Reply with parameter

Appendix 93

0

Structure of PDU (Bytes 0 … 5)

1 2 3 4

0x00 0x01 TAB REG -

5

-

0x00 0x04 TAB REG D1 D0

0x00 0x09 - - - -

0x00 0x0c - - -

0x00 0x0d 0x35 0x12 -

0x00 RSP - -

0x00 RSP D1 D0

-

-

-

-

-

-

Table 42: Protocol 0x80, Structure of PDUs, Legend

Description Description

- This byte is not used by this PDU

TAB

REG

Table number

Register number

D1

D0

RSP

Parameter, top byte (MSB)

Parameter, bottom byte (LSB)

Reply status:

0x00

0x01

0x02

0x03

Executed successfully

Execution failed

Access denied

Table protected

0x04

0x05

0x06

[0x07...0xFF]

Incorrect data length

Unknown table

Unknown register

(reserved)

Note Overlapping (concurrent) execution of confirmed services is prohibited!

A confirmed service consists of the transmission of a request and the reception of a reply. Overlapping execution of confirmed services is prohibited. Once a service request has been transmitted, the reply must first be received before a further request can be sent.

12.2.2 Protocol 0x81 (Diagnostics)

This protocol implements the transmission of diagnoses as an unconfirmed service.

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Table 43: Protocol 0x81, Description of Services

Service Description

Diagnostics Transmission of a diagnosis as a message.

The table below shows the structure of PDUs for this protocol:

Table 44: Protocol 0x81, PDU Structure

Service PDU

Diagnostics

0

Structure of PDU (Bytes 0 … 5)

1 2 3 4

0xFF EC1 EC0 0x00 EQ

5

-

Table 45: Protocol 0x81, Structure of PDUs, Legend

Description Description

- This byte is not used by this PDU

EC1

EC0

EQ

Event or error code, top byte (MSB)

Event or error code, bottom byte (LSB)

Event qualifier:

Bit 7 … 6 Mode

Bit 5 … 4 Type:

0: reserved

1: One-time message

2: Event disappears

3: Event appears

0: reserved

1: Notification

2: Warning

3: Error

Bit 3 … 0 (reserved)

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Appendix 95

12.3 Overview of Parameters

The structure and encoding for the parameters stored in the I/O module are described below.

These parameters are organized as registers. A data volume of one word can be stored per register. Several registers are combined into a table, as some parameters require that a larger data volume be stored, or are closely tied to other parameters.

The first 64 registers of the I/O module play a special role. These "base registers" can be addressed directly as 0 … 63 using register communication. All of the other registers are "extended registers", which must be addressed entirely via the table and register index by the function blocks.

12.3.1 Table 0: Base Register

See Section "Register Communication" in this manual.

12.3.2 Tables 50 … 55: Filter Configuration

Tables 50 … 55 contain the parameters for filter configuration. These tables are structured identically to one another and differ only with regard to their default standard values.

Table 46: Expanded Configuration, Tables 50 … 55

Register Description

0 CAN ID LOW (MSW 1 )

1

2

3

4

5

*1: Most significant word

CAN ID LOW (LSW 2 )

CAN ID HIGH (MSW)

CAN ID HIGH (LSW)

Acceptable value range

0x0000...0x1FFF

0x0000 … 0xFFFF

0x0000...0x1FFF

0x0000 … 0xFFFF

FILTER ENABLE 0x0000, 0x0001,

FILTER FIFO HANDLING 0x0000, 0x0001,

*2: Least significant word

Registers 0 and 1 save the CAN ID (lower limit) for the specific filter, Registers 2 and 3 the CAN ID (upper limit) for the specific filter.

Register 4 saves the activation status of the specific filter.

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Table 47: Expanded Configuration, Tables 50 … 55, Register 4: FILTER ENABLE

Description Possible values Explanation

FILTER ENABLE 0x0000 Filter deactivated

0x0001 Filter activated

Register 5 saves the storage handling process.

Table 48: Expanded Configuration, Tables 50 … 55, Register 5: Filter FIFO Handling

Description Possible values Explanation

FILTER FIFO HANDLING 0x0000 "Keep All"

0x0001 "Overwrite"

The table below shows the default standard values for filter configuration.

2

3

4

5

Table 49: Expanded Configuration, Tables 50 … 55, Standard Values

Reg

.

Description Default standard value for filter / table

1 / 50 2 / 51 3 / 52 4 / 53 5 / 54 6 / 55

0

1

CAN ID LOW (MSW)

CAN ID LOW (LSW)

0x0000 0x0000 0x0000 0x0000 0x0000 0x0000

0x0000 0x0180 0x0500 0x0580 0x0381 0x0481

CAN ID HIGH (MSW)

CAN ID HIGH (LSW)

FILTER ENABLE

FILTER FIFO

HANDLING

0x0000 0x0000 0x0000 0x1FFF 0x0000 0x0000

0x0080 0x057F 0x06FF 0xFFFF 0x03FF 0x04FF

0x0001 0x0001 0x0001 0x0001 0x0000 0x0000

0x0001 0x0001 0x0000 0x0001 0x0001 0x0001

12.3.3 Tables 100 … 144: Configuration of Output Direction for

"Mapped Mode"

Tables 100 … 144 save the configuration parameters for CAN telegrams to be sent in the "Mapped mode". One table each saves the configuration for one CAN telegram to be sent.

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Appendix 97

1

2

3

4

5

6

7

8

Table 50: Expanded Configuration, Basic Structure of Tables 100 … 144

Reg

.

0

Description

CAN ID MSW


Default standard value

0x0000 … 0xFFFF 0xFFFF

CAN ID LSW

IDE_RTR_DLC_SEN

DGROUP_SOC

TAKE_FROM_PDOU

T_OR_FIXED_VALU

E

CAN_PAYLOAD_DATA_1_0




SEND_CYCLE_TIME


0x0000...0x1FFF 0x0000

0x0000 … 0xFFFF 0x0000

0x0000 … 0xFFFF 0x0000

0x0000 … 0xFFFF 0x0000

0x0000 … 0xFFFF 0x0000

0x0000 … 0xFFFF 0x0000

0x0000 … 0xFFFF 0x0000

Register 0 and 1 save the CAN ID.

Table 51: Expanded Configuration, Tables 100 … 144, Register 0 … 1: CAN ID

Register bits

Value range /

Possible values

Description

0.0 … 0.12 0x0000...0x1FFF

0.13 … 0.14 0x0

Top 13 bits (Bit 16 … 29) of the mapped

CAN telegram.

Reserved

0.15 0x0 Table configuration active

0x1 Table configuration inactive. Subsequent tables will be ignored by the module.

1.0 … 1.15 0x0000 … 0xFFFF Bottom 16 bits of the mapped CAN telegram

Register 2 saves the parameters which define the transmission conditions and the status bits contained in the telegram.

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Table 52: Expanded Configuration, Tables 100 … 144, Register 2:

IDE_RTR_DLC_SENDGROUP_SOC

Register bits

Value range /

Possible values

Description

2.0 … 2.3 0x0

0x1, 0x8,

CAN telegram not assigned to a transmission group.

CAN telegram assigned to transmission group 1 … 8.

0x9 … 0xF

2.4 … 2.7 0x0, 0x8,

Reserved

CAN telegram has payload data length 0 …

8 [Byte]

2.8

0x9 … 0xF

0x0

0x1

Reserved

CAN telegram is a data frame (RTR = 0)

CAN telegram is a "Remote Transmit

Request Frame" (RTR = 1)

2.9 0x0

0x1

2.10 0x0

0x1

2.11 … 2.15 0x0

CAN telegram is of type Standard 2.0 A

CAN telegram is of type Extended 2.0 B

"Send On Change" deactivated

"Send On Change" activated

Reserved

Register 3 saves the parameters that define the source (process image of output or Register 4) from which the payload data byte values originated.


TAKE_FROM_PDOUT_OR_FIXED_VALUE

Register bits

3.0

Value range /

Possible values

0x0

Description

CAN payload data byte 0 is a fixed value.

0x1 CAN payload data byte 0 is a variable value and is copied/taken from the PIO.

…

3.7

4.0 … 4.7

…

0x0

0x1

0x0

…

CAN payload data byte 7 is a fixed value.

CAN payload data byte 7 is a variable value and is copied/taken from the PIO.

Reserved

Register 4 … 7 save the values for the payload data bytes 0 … 7, or the offset at which the values in this process image are set. Register 4 saves the value for payload data byte 0 … 1.

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Appendix 99

Table 54: Expanded Configuration, Tables 100 … 144, Register 4: CAN_PAYLOAD_DATA_1_0

Register bits

Value range /

Possible values

Description

4.0 – 4.7 [0x00...0xFF] When CAN payload data byte 0 is a fixed value: Value of payload data byte 0

4.8 – 4.15 [0x00...0xFF]

When CAN payload data byte 0 is a variable value: Byte offset at which the value for payload data byte 0 is set in the output process output image

When CAN payload data byte 1 is a fixed value: Value of payload data byte 1

When CAN payload data byte 1 is a variable value: Byte offset at which the value for payload data byte 1 is set in the output process output image

The structure of 5 … 7 is identical to the structure of Register 4. The configuration is saved for two payload data bytes for each register. Accordingly,

Register 5, 6 and 7 save the configuration for payload data bytes 2 and 3,

4 and 5 and 6 and 7.

Register 8 saves the cycle time that must first elapse before the telegram is resent.

Table 55: Expanded Configuration, Tables 100 … 144, Register 8: SEND_CYCLE_TIME

Register bits

Value range /

Possible values

Description

8.0 … 8.15 0x0000 Cyclic sending deactivated.

0x0001 … 0xFFFF Value for cycle time in [ms]

12.3.4 Tables 200 … 244: Configuration of Input Direction for

"Mapped Mode"

Tables 200 … 244 save the configuration parameters (payload data portion) of the input process image in the "Mapped mode". This configuration defines which bytes in the input process image can be refreshed with which contents of received CAN telegrams. One table each saves the configuration for one byte of the payload data portion in the input process image. Accordingly, Table 200 saves the configuration for the first byte of the payload data portion in the input process image, Table 201 the configuration for the second byte, and so on.

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1

2

3

Table 56: Expanded Configuration, Basic Structure of Tables 200 … 244

Reg

.

0

Description

CAN ID MSW


Default standard value


4

5

6

CAN ID LSW

COPY_TO_PD_IN

CAN_DATA_1_0_PD

_IN_OFFSET

CAN_DATA_3_2_PD

_IN_OFFSET

CAN_DATA_5_4_PD

_IN_OFFSET

CAN_DATA_7_6_PD

_IN_OFFSET


0x0000...0x00FF 0x0000

0x0007 … 0x2F2F 0x0000

0x0007 … 0x2F2F 0x0000

0x0007 … 0x2F2F 0x0000

0x0007 … 0x2F2F 0x0000

Registers 0 … 1 save the CAN ID.

Table 57: Expanded Configuration, Tables 100 … 144, Register 0 … 1: CAN ID

Register bits

Value range /

Possible values

Description

0.0 … 0.12 0x0000 ... 0x1FFF Top 13 bits (Bit 16 … 29) of the mapped

CAN telegram.

0.13 … 0.14 0x0

0.15 0x0

Reserved

Table configuration active

0x1 Table configuration inactive. Subsequent tables will be ignored by the module.

1.0 … 1.15 0x0000 … 0xFFFF Bottom 16 bits of the mapped CAN telegram

Register 2 saves the configuration that maps the payload data bytes for the received CAN telegram at the process image of the input.

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Appendix 101

Table 58: Expanded Configuration, Register 2: COPY_TO_PD_IN

Register bits

Value range /

Possible values

Description

2.0 0x0 Refreshing of a byte in the process image

(input) using the value for CAN payload data byte 0 activated.

0x1

…

2.7

…

0x0

Refreshing of a byte in the process image

(input) using the value for CAN payload data byte 0 deactivated.

...

0x1

2.8 … 2.15 0x0


(input) using the value for CAN payload data byte 7 activated.


(input) using the value for CAN payload data byte 7 deactivated.

Reserved

Registers 3 … 6 save the offset for the bytes in the input process image which are refreshed using the CAN payload data bytes configured in Register 2.

Refreshing is performed each time a CAN telegram with the corresponding CAN

ID is received. Each register saves the configuration for two CAN payload data bytes. Register 3 saves the configuration for payload data bytes 0 … 1.

Table 59: Expanded Configuration, Register 3: CAN_DATA_1_0_PD_IN_OFFSET

Register bits

Value range /

Possible values

Description

3.0 … 3.7 0x00 ... 0x2F

3.8 … 3.15 0x00 ... 0x2F

When "Byte refresh" is activated in the process image (input) for CAN payload data byte 0: Offset at the point at which the byte is located that is refreshed using the value for CAN payload data byte 0.

When "Byte refresh" is activated in the process image (input) for CAN payload data byte 1: Offset at the point at which the byte is located that is refreshed using the value for CAN payload data byte 1.

The structure of Register 4 … 6 is identical to that of Register 3. Accordingly,

Register 4, 5 and 6 save the configuration for CAN payload data bytes 2 … 3,

4 … 5 and 6 … 7.

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12.4 Register Communication

Register communication (control byte, bit 7 = 1) can be used to access an internal data structure of the I/O module consisting of 64 registers each with 2 bytes (data type WORD). No automated handshake mechanism is used. That means that register communication is shown via bit 7 of the control byte (bit 7 =

1) and must be hidden again after receipt of the response (bit 7 = 0) to continue exchanging process data.

Change password register before write access to the register!

Write to the password register before write access to the register with the value

"0x1235".

Reset password register after write access to the register!

After writing to the registers, password register 31 must be reset to "0x0000".

Otherwise, further write access to these registers is possible until the supply voltage is disconnected.

Check set values!

After writing to the register, check the set values by reading out the register.

Process data during register communication invalid!

During register communication, the remaining data on the I/O module is invalid for both data directions.

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12.4.1 Control/Status Byte

The control byte has the following structure:

Table 60: Control Byte

Bit 7

1

Bit 6

0 = Read Register

1 = Write Register

Bit 5

Control Byte

Bit 4 Bit 3 Bit 2

Register number

Appendix 103

Bit 1 Bit 0

During register communication, the register query response is contained in the status byte.

Table 61: Status Byte

Bit 7

1

Bit 6 reserved

Bit 5

Status Byte


Register number (Acknowledgement)

Bit 0

The register data is transferred in the subsequent 2 bytes (byte 1 and byte 2) of the local bus process image.

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12.4.2 Register Overview

The following section provides an overview of the I/O module registers.

10

11

12

13

14

15

Table 62: Overview of I/O Module Registers

No. Memory

Area

Acces s

Default

Value

01-05 --- ---

Description

0x0000 Reserved

06

07

08

09

RAM

---

ROM

ROM ro

--- ro ro

Var. Status byte of the local bus

0x0000 Reserved

0x028F WAGO article number (without 0750-)

0x3031 Software index (String)

RAM

RAM

RAM

RAM

ROM

RAM ro ro ro ro ro ro

Var.

Var.

Var.

Var.

Number of physical channels

Number of logical channels

Fieldbus process data widths

Data type register

0x1000 Software version

Var. Alignment

16 EEPROM ro

17-26 --- ---

27

28

29

RAM ro

EEPROM ro

EEPROM ro

30

31

32

33

EEPROM ro

RAM r/w

EEPROM r/w

EEPROM r/w

34 EEPROM ro

35-52 --- ---

53 RAM ro

54-55 ---

56

---

EXTERN r/w

57

58

EXTERN r/w

EEPROM ro

59 EEPROM ro

60-62 --- ---

63 ROM ro

0x0001

0x0000

Var.

0x0000

Var.

Var.

Var.

Hardware version

Reserved

Reserved

0x0000 WAGO order number, digits 10 - 12

WAGO order number, digits 7 - 9

0x19AA WAGO order number, digits 4 - 6

Code word

Reserved

Process data layout

0x0001 Mailbox 2.0 offset

0x0000 Reserved

Var. Parameter channel error code

0x0000 Reserved

Var.

Var.

Var.

Var.

---

Var.

Parameter channel, Data

Parameter channel, Control

WAGO serial number (LSW)

WAGO serial number (MSW)

Reserved

Date of the firmware compilation

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List of Figures 105

List of Figures

Figure 1: View ...................................................................................................... 18

Figure 2: Data Contacts ....................................................................................... 19

Figure 3: Power Jumper Contacts ....................................................................... 20

Figure 4: CAGE CLAMP ® Connectors ................................................................. 22

Figure 5: Display Elements .................................................................................. 23

Figure 6: Schematic Diagram .............................................................................. 24

Figure 7: Functional Description 750-658 ............................................................ 30

Figure 8: Map CAN Telegrams in Input Direction ................................................ 31

Figure 9: Map CAN Telegrams in Output Direction ............................................. 32

Figure 10: Process Image in "Sniffer" Mode ........................................................ 37

Figure 11: Process Image in the "Transparent" Operating Mode ........................ 39

Figure 12: Process Image in the "Mapped" Operating Mode ............................... 40

Figure 13: Insert I/O Module (Example) ............................................................... 42

Figure 14: Snap the I/O Module into Place (Example) ........................................ 42

Figure 15: Removing the I/O Module (Example) ................................................. 43

Figure 16: Connecting a Conductor to a CAGE CLAMP ® .................................... 44

Figure 17: WAGO-I/OCHECK User Interface ..................................................... 47

Figure 18: Configuration Dialog of the I/O Module .............................................. 48

Figure 19: Buttons in the Main Menu ................................................................... 48

Figure 20: Buttons in the Application Menu ......................................................... 50

Figure 21: "Select Data" Dialog ........................................................................... 52

Figure 1: Turn on Advanced Mailbox Diagnostics ............................................... 54

Figure 23: Set Mailbox Length ............................................................................. 55

Figure 24: Setting the Process Image Size ......................................................... 56

Figure 25: Function Area in the "Sniffer Mode" .................................................... 57

Figure 26: Function Area in the "Transparent Mode" ........................................... 58

Figure 27: Function Area in the "Mapped Mode" – "PII" View ............................. 60

Figure 28: "Add mapping rule" Dialog .................................................................. 61

Figure 29: "Change mapping rule" Dialog............................................................ 61

Figure 30: Function Area in the "Mapped Mode" – "PIO" View ........................... 62

Figure 31: "Add mapping rule" Dialog .................................................................. 63

Figure 32: "Change mapping rule" Dialog............................................................ 64

Figure 33: Set CAN Data Format ......................................................................... 65

Figure 34: Set CAN Baud Rate ............................................................................ 66

Figure 35: Selecting a Filter ................................................................................. 67

Figure 36: Send CAN Telegrams via the Mailbox ................................................ 68

Figure 37: “Parameter Comparison” Dialog ......................................................... 69

Figure 38: Marking Example According to ATEX and IECEx .............................. 74

Figure 39: Text Detail – Marking Example According to ATEX and IECEx ......... 74

Figure 40: Marking Example for Approved Ex i I/O Module According to

ATEX and IECEx ........................................................................................ 76

Figure 41: Text Detail – Marking Example for Approved Ex i I/O Module

According to ATEX and IECEx ................................................................... 76

Figure 42: Marking Example According to NEC .................................................. 78

Figure 43: Text Detail – Marking Example According to NEC 500 ...................... 78


According to NEC 505 ................................................................................ 79

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According to NEC 506 ................................................................................ 79

Figure 46: Text Detail – Marking Example for Approved Ex i I/O Modules

According to CEC 18 attachment J ............................................................ 80

Figure 47: Communication via Mailbox 2.0 .......................................................... 84

Figure 48: Use of the Handshake Byte ................................................................ 86

Figure 49: Finite Automation ................................................................................ 89

Figure 50: Example of Send Operation ............................................................... 91

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List of Tables 107

List of Tables

Table 1: Number Notation ...................................................................................... 9

Table 2: Font Conventions ..................................................................................... 9

Table 3: 750-658 Compatibility List – Fieldbus Couplers/Controllers .................. 16

Table 4: 750-658 Compatibility List – IPC ........................................................... 17

Table 5: Legend for Figure “View” ....................................................................... 18

Table 6: Legend for Figure “Power Jumper Contacts” ......................................... 20

Table 7: Legend for Figure “CAGE CLAMP ® Connectors“ .................................. 22

Table 8: Legend for Figure “Display Elements” ................................................... 23

Table 9: Technical Data – Device ........................................................................ 25

Table 10: Technic al Data ‒ Supply ...................................................................... 25

Table 11: Technical Data – CAN Communication ............................................... 26

Table 12: Technical Data – Field Wiring .............................................................. 26

Table 13: Technical Data – Power Jumper Contacts .......................................... 26

Table 14: Technical Data – Data Contacts .......................................................... 26

Table 15: Technical Data – Climatic Environmental Conditions .......................... 27

Table 16: Toggle Byte .......................................................................................... 33

Table 17: Control Byte ......................................................................................... 36

Table 18: Status Byte .......................................................................................... 36

Table 19: Structure of CAN Telegrams with the "2.0A Standard Frame"

Setting ........................................................................................................ 38

Table 20: Structure of CAN Telegrams with the "2.0B Extended Frame"

Setting ........................................................................................................ 38

Table 21: Toggle Byte .......................................................................................... 40

Table 22: Buttons on the Main Menu ................................................................... 49

Table 23: Buttons in the Application Menu .......................................................... 51

Table 24: Parameters in the “Select Data” Dialog ............................................... 53

Table 25: Diagnostics .......................................................................................... 71

Table 26: Description of Marking Example According to ATEX and IECEx......... 75

Table 27: Description of Marking Example for Approved Ex i I/O Module

According to ATEX and IECEx ................................................................... 77

Table 28: Description of Marking Example According to NEC 500...................... 78

Table 29: Description of Marking Example for Approved Ex i I/O Module

According to NEC 505 ................................................................................ 79

Table 30: Description of Marking Example for Approved Ex i I/O Modules

According to NEC 506 ................................................................................ 79

Table 31: Description of Marking Example for Approved Ex i I/O Modules

According to CEC 18 attachment J ............................................................ 80

Table 32: Structure of the Simple Header ........................................................... 85

Table 33: Structure of the Extended Header ....................................................... 85

Table 34: Structure of the Handshake Byte ......................................................... 86

Table 35: Commands .......................................................................................... 87

Table 36: Acknowledgement ............................................................................... 88

Table 37: Structure of the Handshake Byte ......................................................... 88

Table 38: Signaling .............................................................................................. 88

Table 39: Protocols Supported by Mailbox 2.0 .................................................... 92

Table 40: Protocol 0x80, Description of Services ................................................ 92

Table 41: Protocol 0x80, PDU Structure .............................................................. 93

Manual

Version 1.2.


108 List of Tables WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

Table 42: Protocol 0x80, Structure of PDUs, Legend .......................................... 93

Table 43: Protocol 0x81, Description of Services ................................................ 94

Table 44: Protocol 0x81, PDU Structure .............................................................. 94

Table 45: Protocol 0x81, Structure of PDUs, Legend .......................................... 94

Table 46: Expanded Configuration, Tables 50 … 55 ........................................... 95

Table 47: Expanded Configuration, Tables 50 … 55, Register 4: FILTER

ENABLE ..................................................................................................... 96

Table 48: Expanded Configuration, Tables 50 … 55, Register 5: Filter FIFO

Handling ..................................................................................................... 96

Table 49: Expanded Configuration, Tables 50 … 55, Standard Values .............. 96

Table 50: Expanded Configuration, Basic Structure of Tables 100 … 144 ......... 97

Table 51: Expanded Configuration, Tables 100 … 144, Register 0 … 1:

CAN ID ....................................................................................................... 97


IDE_RTR_DLC_SENDGROUP_SOC ........................................................ 98


TAKE_FROM_PDOUT_OR_FIXED_VALUE ............................................. 98


CAN_PAYLOAD_DATA_1_0 ..................................................................... 99


SEND_CYCLE_TIME ................................................................................. 99

Table 56: Expanded Configuration, Basic Structure of Tables 200 … 244 ....... 100

Table 57: Expanded Configuration, Tables 100 … 144, Register 0 … 1:

CAN ID ..................................................................................................... 100

Table 58: Expanded Configuration, Register 2: COPY_TO_PD_IN .................. 101

Table 59: Expanded Configuration, Register 3:

CAN_DATA_1_0_PD_IN_OFFSET .......................................................... 101

Table 60: Control Byte ....................................................................................... 103

Table 61: Status Byte ........................................................................................ 103

Table 62: Overview of I/O Module Registers ..................................................... 104

Manual

Version 1.2.


WAGO-I/O-SYSTEM 750

750-658 CAN Gateway

109

Manual

Version 1.2.


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