Fieldbus Controller |
• 39 |
Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000
3 Fieldbus Controller
3.1 Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000
This chapter includes:
1.1.1 |
Description......................................................................................... |
40 |
1.1.2 |
Hardware ........................................................................................... |
42 |
1.1.2.1 |
View.............................................................................................. |
42 |
1.1.2.2 |
Variants......................................................................................... |
43 |
1.1.2.3 |
Device supply................................................................................ |
43 |
1.1.2.4 |
Fieldbus connection ...................................................................... |
44 |
1.1.2.5 |
Display elements........................................................................... |
45 |
1.1.2.6 |
Configuration and programming interface.................................... |
46 |
1.1.2.7 |
Operating mode switch ................................................................. |
46 |
1.1.2.8 |
Hardware address (Module ID) .................................................... |
47 |
1.1.2.9 |
Setting the baud rate ..................................................................... |
47 |
1.1.3 |
Operating system ............................................................................... |
49 |
1.1.3.1 |
Start-up.......................................................................................... |
49 |
1.1.3.2 |
PLC cycle...................................................................................... |
49 |
1.1.4 |
Process Image .................................................................................... |
51 |
1.1.4.1 |
General Structure .......................................................................... |
51 |
1.1.4.2 |
Fieldbus specific Process Data Architecture ................................ |
52 |
1.1.5 |
Data Exchange................................................................................... |
74 |
1.1.5.1 |
Communication objects ................................................................ |
74 |
1.1.5.2 |
Communication interfaces ............................................................ |
75 |
1.1.5.3 |
Memory areas................................................................................ |
75 |
1.1.5.4 |
Addressing .................................................................................... |
78 |
1.1.6 |
Programming the PFC with WAGO-I/O-PRO CAA ......................... |
90 |
1.1.6.1 |
WAGO-I/O-PRO CAA Library Elements for CANopen ............. |
90 |
1.1.6.2 |
IEC 61131-3 Program transfer...................................................... |
92 |
1.1.7 |
Starting up CANopen fieldbus nodes ................................................ |
95 |
1.1.7.1 |
Connecting the PC and fieldbus node........................................... |
95 |
1.1.7.2 |
Checking and setting the Baud rate .............................................. |
95 |
1.1.7.3 |
Setting the module ID ................................................................... |
96 |
1.1.7.4 |
Changing to the OPERATIONAL status...................................... |
97 |
1.1.7.5 |
Turning on the analog input data .................................................. |
97 |
1.1.7.6 |
Application specific mapping ....................................................... |
97 |
1.1.8 |
LED Display .................................................................................... |
101 |
1.1.8.1 |
Fieldbus status............................................................................. |
102 |
1.1.8.2 |
Node Status – Blink code from the 'I/O' LED ............................ |
103 |
1.1.8.3 |
Supply Voltage Status................................................................. |
109 |
1.1.9 |
Technical Data................................................................................. |
110 |
WAGO-I/O-SYSTEM 750
CANopen
40• Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 Description
3.1.1 Description
The fieldbus controllers for CANopen differ in the fieldbus connection, the appropriate variants in the size of the internal memory.
Item |
Fieldbus Connection |
750-837 |
|
750-837/020-000 |
MCS (Multi Connector System) |
750-837/021-000 |
|
750-838 |
|
750-838/020-000 |
D-SUB (9-pole) |
750-838/021-000 |
|
Item |
Memory Size |
750-837 |
PFC Memory: RAM 64 kB, FLASH: 64/128 kB *) |
750-837/020-000 |
PFC Memory: RAM 192 kB, FLASH: 128/256 kB *) |
750-837/021-000 |
PFC Memory: RAM 832 kB, FLASH: 320/640 kB *) |
750-838 |
PFC Memory: RAM 64 kB, FLASH: 64/128 kB *) |
750-838/020-000 |
PFC Memory: RAM 192 kB, FLASH: 128/256 kB *) |
750-838/021-000 |
PFC Memory: RAM 832 kB, FLASH: 320/640 kB *) |
*) with/without Online change
Attention
The executability and the support of the Gateway objects are ensured throught the versions starting from:
-HW 06 and SW 11 for 750-837, /020-000, /021-000,
-HW 01 and SW 11 for 750-838, /020-000, /021-000.
For Software versions starting from SW 11 the indicated hardware conditions are obligatory necessary. Likewise starting from the specified hardware versions SW 11 must be used at least.
Controllers 750-837 with a hardware version before HW 06 are executable only with a software till SW 10, thereby gateway objects are not supported.
Note
In this manual, the diagrams and pictures are shown from the controller 750-837. The descriptions also apply equally to the controllers 750-837/020- 000, /021-000, 750-838, /020-000, /021-000.
The programmable fieldbus controller (short: PFC) combines the CANopen functions of the fieldbus coupler with that of a programmable logic control (PLC).
The application program is created with WAGO-I/O-PRO CAA in accordance with IEC 61131-3.
All input signals of the sensors are grouped in the controller.
WAGO-I/O-SYSTEM 750
CANopen
Fieldbus Controller 750-837, /02x-000, 750-838, /02x-000 |
• 41 |
Description |
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According to the IEC 61131-3 programming, data processing occurs locally in the PFC. The link results created in this manner can be put out directly to the actuators or transmitted to the higher ranking control system via the bus.
The process data exchange is made via PDOs and SDOs. The controller supports 32 Tx and 32 Rx PDOs, as well as 2 server and 16 client SDOs for sending process data via the CANopen fieldbus.
The programmer has access to all fieldbus and I/O data.
In the initialization phase the fieldbus controller determines the physical structure of the node and creates a process image from this with all inputs and outputs. This could involve a mixed arrangement of analog (word by word data exchange) and digital (byte by byte data exchange) modules.
The local process image is subdivided into an input and output data area.
The data of the analog modules are mapped into the PDOs according to the order of their position downstream of the bus coupler. The bits of the digital modules are compiled to form bytes and also mapped into PDOs. Should the number of digital I/Os exceed 8 bits, the coupler automatically starts another byte.
The entries in the object directory can be mapped to the 32 RxPDOs and 32 TxPDOs as required. The entire input and output data area can be transmitted with the SDOs.
“Spacer modules” can be set using the software.
WAGO-I/O-SYSTEM 750
CANopen