750-837 CAN Open PFC Configuring & Networking

Application note

A202601, English Version 1.0.1

2 • General

Copyright  2002 by WAGO Kontakttechnik GmbH All rights reserved.

WAGO Kontakttechnik GmbH Hansastraße 27 D-32423 Minden Phone: +49 (0) 571/8 87 – 0 Fax: +49 (0) 571/8 87 – 1 69 E-Mail: [email protected] Web:

http://www.wago.com

Technical Support Phone: +49 (0) 571/8 87 – 5 55 Fax: +49 (0) 571/8 87 – 85 55 E-Mail: [email protected]

Every conceivable measure has been taken to ensure the correctness and completeness of this documentation. However, as errors can never be fully excluded we would appreciate any information or ideas at any time. We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally trademark or patent protected.

Application note A202601

Table of Contents

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TABLE OF CONTENTS 1 Important comments ................................................................................. 4 1.1 Legal principles............................................................................................ 4 1.1.1 Copyright .......................................................................................... 4 1.1.2 Personnel qualification ..................................................................... 4 1.1.3 Intended use...................................................................................... 4 1.2 Range of validity.......................................................................................... 5 2

Description.................................................................................................. 6

3 Reference Material .................................................................................... 7 3.1 Networking & Configuring CAN Open....................................................... 7 3.1.1 Setting the Baud Rate ....................................................................... 9 3.1.2 Setting the Hardware Address ........................................................ 10 3.2 Starting the CAN Open Configuration Tool.............................................. 10 3.2.1 Configure the Network ................................................................... 11 3.2.2 Add a Node to the Network............................................................ 12 3.3 PDO Objects for I/O .................................................................................. 14 3.3.1 PDO Objects for Network Variables .............................................. 15 3.3.2 Assign Object Index and PDO’s..................................................... 17 3.3.3 Configuring Digital Outputs........................................................... 20 3.3.4 Configuring Analog & Specialty Outputs ...................................... 21 3.3.5 Configuring Digital Inputs.............................................................. 21 3.3.6 Configuring Analog & Specialty Inputs:........................................ 23 3.4 Final Configuration.................................................................................... 24 3.5 PFC Module Addressing............................................................................ 25 3.5.1 Example Internal Variables ............................................................ 26 3.6 WAGO-PRO32 Program ........................................................................... 27 3.6.1 837 test program ............................................................................. 28 3.7 Going Online to the CAN Network ........................................................... 29

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Important comments

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Important comments To ensure fast installation and start-up of the units described in this manual, we strongly recommend that the following information and explanation is carefully read and adhered to.

1.1 Legal principles 1.1.1

Copyright This manual is copyrighted, together with all figures and illustrations contained therein. Any use of this manual which infringes the copyright provisions stipulated herein, is not permitted. Reproduction, translation and electronic and photo-technical archiving and amendments require the written consent of WAGO Kontakttechnik GmbH. Non-observance will entail the right of claims for damages.

1.1.2

Personnel qualification The use of the product detailed in this manual is exclusively geared to specialists having qualifications in PLC programming, electrical specialists or persons instructed by electrical specialists who are also familiar with the valid standards. WAGO Kontakttechnik GmbH declines all liability resulting from improper action and damage to WAGO products and third party products due to non-observance of the information contained in this manual.

1.1.3

Intended use For each individual application, the components supplied are to work with a dedicated hardware and software configuration. Modifications are only admitted within the framework of the possibilities documented in the manuals. All other changes to the hardware and/or software and the non-conforming use of the components entail the exclusion of liability on part of WAGO Kontakttechnik GmbH. Please direct any requirements pertaining to a modified and/or new hardware or software configuration directly to WAGO Kontakttechnik GmbH.

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Important comments

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1.2 Range of validity This application note is based on the stated hardware and software of the specific manufacturer as well as the correspondent documentation. This application note is therefore only valid for the described installation. New hardware and software versions may need to be handled differently. Please note the detailed description in the specific manuals.

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Description

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Description The purpose of this document is to provide a step-by-step procedure for Configuring & Networking the WAGO 750-837 CAN Open PFC. This document is to be used with the example node from the document PFC 101 Get Started Quick. The following equipment and software were used in Configuring and Network the CAN Open PFC. WAGO NetCon Configuration Software Hilscher Can Open Card 750837.EDS When using CAN Open, an EDS file is needed for configuration. Use WAGO 750837.EDS for the 750-837 PFC. For other details about WAGO CAN Open & 750-837 please refer to the WAGO CAN Open Users Manual 750-134 The EDS file and the CAN OpenUsers Manual can be downloaded from the web site www.wago.com

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Reference Material

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Reference Material

3.1 Networking & Configuring CAN Open WAGO modules used in the example: 750-837 1

CANopen PFC Buscoupler

750-402 1

4 Point 24Vdc Input module

750-504 3

4 point output modules

750-550 1

2 Channel Analog 0-10Vdc Output module

750-467 1

2 Channel Analog 0-10Vdc Input module

750-600 1

End module

The modules are placed in the node as follows:

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Reference Material

DIP Switch Setting for Baud Rate & Hardware Addressing: The DIP Switches in the CAN Open Buscoupler and PFC have two functions: The first function sets the baud rate The second function sets the hardware address of the node. The DIP Switches are binary weighted. All off = 0, 1 On = 1, 2 On = 2, 1&2 On = 3, 3 On = 4 …..

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3.1.1

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Setting the Baud Rate CAN Open has 9 different baud rates that are set by the DIP Switches. 1: With the node powered off place all Dip switches to the off position. 2: Apply power to the node 3: Select the baud rate from below, Baud rate is diplayed by the top 4 LED’s. 4: When baud rate is selected slide DIP Switch 8 from Off to On, Current baud rate is displayed by the steady LED’s. 1Meg Baud is displayed by all top 4 LED’s on solid. DIP 1 2 3 4 5 6 7 8

Function 1Meg Baud Rate 0 Baud Rate 0 Baud Rate 0 Baud Rate 0

Accept

800Kb 500Kb 250Kb 125Kb 100Kb 50Kb 1 0 1 0 1 0 0 1 1 0 0 1 0 0 0 1 1 1 0 0 0 0 0 0

Move from Off to On

Once the baud rate is set switch off power to the node. Set all Dip Switches to Off including switch 8.

Application note A202601

20Kb 1 1 1 0

10Kb 0 0 0 1

LED's Stop Run TX-OvrFlo RX-OvrFlo

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3.1.2

Reference Material

Setting the Hardware Address Use the DIP Switches to set the Node address. When power is applied the WAGO CAN Open device will be assigned the node address. Valid node address is 1-127.

3.2 Starting the CAN Open Configuration Tool This application note uses WAGO NetCon Configuration Software with a Hilscher CAN Open Card. The procedures for other software should follow close to this example. 1: Download the EDS file for the 750-837 from the WAGO web site. www.wago.com 2: Install the EDS file into the configuration software. Copy EDS installs the EDS file

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3.2.1

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Configure the Network To start configuring a network the CAN Open card has to be selected in the software. Select Insert, Master.

Select the CAN Open Master card used in the PC Select OK

The software should have a Master as displayed below.

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3.2.2

Reference Material

Add a Node to the Network Click just below the Master to move the box. Select Insert, Node, the Insert Node window will be displayed. Vendor = WAGO Kontaktechnic Profile = All Click on WAGO CANOpen BK PLC Hilscher for the 750-837 Click on ADD Enter the Node ID (This example = Node Address 2 DIP Switch Setting) Enter Description (This example is Node 1) When all data has been entered click on OK

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The Master and Node are added to the network

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3.3 PDO Objects for I/O The PFC uses memory space 0-255 for physical Input and Output module addresses. The PFC has Network Variable registers at 256-511. The Network Variable Memory is used to pass data between the Master and the PFC keeping to lower memory for physical I/O addresses. When starting to configure CAN Open, Profile 401 should be selected when initializing. Device Types need to be selected : Digital Inputs Digital Outputs Analog Inputs Analog Outputs

PDO’s are data transmission types that are 8 byte data carrier with its own CAN Identifier. The identifier contains both address and priority information. There are Transmit and Receive PDO types. Transmit and Receive PDO’s are from a 750-837 perspective: Transmit PDO = Send Input data from the 750-837 to the Master. Receive PDO = Receive Output data from the Master to the 750-837. The 750-837 supports up to 5 Transmit/Receive PDO’s (40 bytes Input/Output). If more data has to be transmitted, SDO’s can be used which is slower and lower priority. CAN Open reserves the 1st PDO for Digital and the 2nd PDO for Analog data

Object Directory data is made separately according to data width of 1 Bit, 2 Byte, 3 Byte …8 Byte selecting the correct object for inputs and outputs. The modules can be placed in any physical arrangement.

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The Digital module data is taken into consideration first. CAN Open does not transmit the data bit by bit but groups the data into blocks of bytes. These blocks are assigned to the corresponding index. As an example object 0x2000 is Digital input data and 0x2100 is Digital output data. Modules having a width of 1byte would be assigned 0x2200 for inputs and 0x2300 for outputs. Modules such as analog and specialty modules would be assigned to the correct byte object width.

The following is a list of I/O Object types for I/O: PDO Objects for I/O: Data Width 1 Bit 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Byte

3.3.1

Input Modules 0x2000 0x2200 0x2400 0x2600 0x2800 0x3000 0x3200 0x3400 0x3600

Output Modules 0x2100 0x2300 0x2500 0x2700 0x2900 0x3100 0x3300 0x3500 0x3700

PDO Objects for Network Variables

Network Variables are memory locations in the PFC where data is passed between the Master and PFC. The Network Variable memory is configured to pass data so the I/O address memory locations are not used. %QW256 - %QW767 send data from the PFC to the Master %IW256 - %IW767 receive data from the Master to the PFC The Network Variable memory locations are used in the WAGO-PRO32 Program to move data in and out of the PFC.

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Reference Material

If the PFC is to send data to the Master, the PFC program can load data into %QW256. In the CAN Open configuration Unsigned 16 (0xA580) accesses %QW256 for the Master to receive the data. If the CAN Open Master is to send data to the PFC, the Master can load data into Unsigned 16 (0xA100) and send data to %IW256 which is used in the PFC program. The following is a list of Objects for Network Variables: PDO Objects for Network Variables:

Data Type Integer 8 Unsigned 8 Boolean Interger 16 Unsigned 16 Interger 24 Unsigned 24 Interger 32 Unsigned 32 Float 32 Unsigned 40 Interger 40 Unsigned 48 Interger 48 Unsigned 56 Interger 56 Interger 64 Unsigned 64

Wago Pro Net-Var Inputs %IW256-767 0xA000 0xA040 0xA080 0xA0C0 0xA100 0xA140 0xA180 0xA1C0 0xA200 0xA240 0xA280 0xA2C0 0xA 300 0xA340 0xA380 0xA3C0 0xA400 0xA440

Wago Pro Net-Var Outputs %QW256-767 0xA480 0xA4C0 0xA500 0xA540 0xA580 0xA5C0 0xA600 0xA640 0xA680 0xA6C0 0xA700 0xA740 0xA780 0xA7C0 0xA800 0xA840 0xA880 0xA8C0

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3.3.2

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Assign Object Index and PDO’s Double click on Node1 to start the Node Configuration of Object Index & PDO‘s. The window will be displayed like below.

Now the PDO Data Transmission type needs to be reserved. The CAN Open Specifications reserves the 1st PDO for Digital and the 2nd PDO for Analog data.

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Reference Material

There are 32 RPDO and 32 TPDO Object Indexes. Receive PDO (RPDO = Outputs): Double Click on the following parameters to add to the Configured PDO list. Object Index 1400 RPDO1 Communications should be reserved for Digital Outputs. Object Index 1401 RPDO 2 Communications should be reserved for Analog & Specialty Outputs. Transmit PDO (TPDO = Inputs): Double Click on the following parameters to add to the Configuration PDO list. Object Index 1800 TPDO1 Communications should be reserved for Digital Inputs. Object Index 1801 TPDO2 Communications should be reserved for Analog & Specialty Inputs. When an Object Index was added to the PDO list, the following window will be displayed.

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Reference Material

Select Node shall use a synchronization message to actuate the (received/Transmit) PDO was selected.

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3.3.3

Reference Material

Configuring Digital Outputs Move the cursor to the bottom of the display under Configured PDOs. Double Click on PDO Name RPDO1. RPDO1 is reserved for Digital Outputs Double click on Object index 6200 Sub Index 1. This will reserve 1 byte of data to control 4 point Output Modules 1 & 2. Double Click on Object Index 6200 Sub Index 2. This will reserve 1 byte of data to control 4point Output module 3. This module will be the Least Significant part of the byte. If one more modules were added the next 4 point module would take the Most Significant part of the byte. Note: If more PDOs are displayed than needed, Delete the PDOs that will not be used.

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3.3.4

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Configuring Analog & Specialty Outputs Double Click on PDO Name RPDO2 RPDO2 is reserved for Analog and Specialty Outputs modules Each Analog module has 2 Words of data (2bytes per Channel, 2 Channels per Module). Select Object Index 2500 Sub Index 1 to reserve 2 bytes for Analog Output Channel 1. Select Object Index 2500 Sub Index 2 to reserve 2 bytes for Analog Output Channel 2. Select Object Index A580 Sub Index 1 to reserve 1 word for Network Variable Output. This is to send data from the PFC to the Master using PFC register %QW256. Select Object Index A580 Sub Index 2 to reserve 1 word for Network Variable Output. This is to send data from the PFC to the Master using PFC register %QW257.

3.3.5

Configuring Digital Inputs Move the cursor to the bottom of the display under Configured PDOs.

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Reference Material

Double Click on PDO Name TPDO1. TPDO1 is reserved for Digital Inputs Double click on Object index 6000 Sub Index 1, this will reserve 1 byte of data to read the first 4point Input module.

Note: If more PDOs are displayed than needed, Delete the PDOs that will not be used. This Example will only use Object 6000 Sub index 1, all others can be deleted.

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3.3.6

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Configuring Analog & Specialty Inputs: Double Click on PDO Name TPDO2 TPDO2 is reserved for Analog and Specialty Input modules. Each Analog module has 2 Words of data (2bytes per Channel, 2 Channels per Module). Select Object Index 2400 Sub Index 1 to reserve 2 bytes for Analog Input Channel 1. Select Object Index 2400 Sub Index 2 to reserve 2 bytes for Analog Input Channel 2. Select Object Index A100 Sub Index 1 to reserve 1 word for Network Variable Output. This is to send data from the Master to the PFC placing data into PFC register %IW256. Select Object Index A100 Sub Index 2 to reserve 1 word for Network Variable Output. This is to send data from the Master to the PFC placing data into PFC register %IW257.

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3.4 Final Configuration

After all the PDOs have been configured the display should look like the above display. If a Network Watchdog is to be used then the Guard time and Life time Factor need to be set. Guard time is the time in Milliseconds the watchdog takes to time out on loss of Network. Life time Factor is the (Guard time x Life Factor = Total Watchdog time).

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3.5 PFC Module Addressing 1: Analogs and Specialty modules are addressed first regardless of module location. 2: Digital modules follow after the Analog & Specialty modules 3: PFC Addressing is sequential 4: PFC Addressing starts at word 0

The 750-837 PFC I/O Addressing is as follows Inputs

Addrs Variables

750-467 %IW0

AICHAN1

%IW1

AICHAN2

750-402 %IX2.0 INPUT0

Output

Addrs

Variables

750-550

%QW0

AOCHAN1

%QW1

AOCHAN2

750-516

%QX2.0 OUTPUT0

%IX2.1 INPUT1

%QX2.1 OUTPUT1

%IX2.2 INPUT2

%QX2.2 OUTPUT2

%IX2.3 INPUT3

%QX2.3 OUTPUT3 750-516

%QX2.4 OUTPUT4 %QX2.5 OUTPUT5 %QX2.6 OUTPUT6 %QX2.7 OUTPUT7

750-516

%QX2.8 OUTPUT8 %QX2.9 OUTPUT9 %QX2.10 OUTPUT10 %QX2.11 OUTPUT11

750-600 End Module (No Memory Allocation needed)

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3.5.1

Reference Material

Example Internal Variables Input256 First Memory location the CAN Open Master places data to the PFC is %IW256. Output256 First Memory location to place data in the PFC to send to the CAN Open Master is %QW256. 837test program was developed to verify that the CAN Open configuration is correct and data can pass between the CAN Open master and the 750-837 PFC. Enter the following program into the PFC. When the PFC has been programmed and downloaded, run the program. Start the CAN Open Configuration to monitor the network data.

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3.6 WAGO-PRO32 Program Enter the program below into WAGO –Pro32.

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3.6.1

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837 test program Rung 1: INPUT0 is the first Input from the digital input module. OUTPUT0 is the first Output from the first digital output module. When INPUT0 is On, OUTPUT0 turns On. The PFC has control of the output. If the CAN Open Master is configured correctly the output will turn on when the input turns on. If the output does not turn on, check the configuration to be sure the Objects are configured correctly or the PFC Program is addressed correctly. Rung 2: INPUT256 (%IW256) is the first Network Variable Input memory location. Unsigned16 (0xA100) would be used in the configuration to receive data from the Master. Using the ADD operator to add 0 to INPUT256, transfers the data from INPUT256 to AOCHAN1 (%QW0) which is assigned to channel 1 of the analog output module. If channel 1 of the analog output is wired to channel 1 of the analog input module, the NetCon Monitor tool could display channel 1 analog input values if you move %IW1 to %QW257 and configure another Transmit PDO. Changing the value in the NetCon Monitor Output will change the value in INPUT256. Rung3: This rung is used to clock the up counter in rung 4. Rung4: Every time the timer RESET is true, it adds one count to the up counter. OUTPUT256 (%QW256) is the first Network Variable Output memory location. Unsigned16 (0XA580) would be used in the configuration to send data to the Master. Compare the data of OUTPUT256 with the NetCon Monitor Inputs, the data should count up with the PFC.

The PFC program and NetCon configuration is a small example to demonstrate how to configure CAN Open and the PFC to pass data. If one of these steps are not working correctly, check the configuration of the CAN Open master and the addressing in the PFC.

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3.7 Going Online to the CAN Network

Once all parameters are configured in the CAN Open software the parameters must be downloaded. Click on Online, Download. The parameters will start to download

Once the parameters are downloaded and the PFC program loaded the data can be monitored by the CAN Open software and WAGO-Pro32. Select I/O Monitor to view the network data.

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I/O Monitor is displayed as follows:

Input Data: Input Row 0 is the only row with data. Input 1 is the data from the first Digital input module. Input 2 & 3 is the data from Analog input Channel 1 Look at Output 6 & 7, These are the Network Variable bytes sent to INPUT256 and moved to AOCHAN1. Analog Output Channel 1 is wired to Analog Input Channel 1. When a change is made to Output 6&7 it is sent to INPUT256, Moved to AOCHAN1. AOCHAN1 sends a signal to Analog Input 1 to read the data and display it at Input 2 & 3. Input 3 & 4 are configured to read Analog Input Channel 2 Input 5 & 6 is the feed back data from OUTPUT256 The timer in PFC Rung 3 clocks the counter in Rung 4. As the counter counts up the data is sent to Network Variable %QW256 and displayed at Input 5 & 6. Input 7 & 8 were added in the configuration.

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Change the program to send data to OUTPUT257 (%QW257) and view the data at Inputs 7 & 8. Output Data: Output Row 0 is the only row with data. Output 0 Enter 255 and the Digital Outputs of modules 1 & 2 will turn On. Output 1 Enter 15 and the Digital Outputs of module 3 will turn On. Output 2 & 3 were configured for Analog Output Channel 1. Analog Output Channel 1 is being controlled by Input 256. Output 4 & 5 were configured for Analog Output Channel 2. If you wire Analog Output Channel 2 to Analog Input Channel 2, it is possible to send data to Output 4 & 5 and see the feed back data of Analog Input Channel 2 in Input 3 & 4. Output 6 & 7 send data to Input 256 in the PFC. This data is moved to AOChan1. Output 8 & 9 were configured to send data to Input257. Change the program to receive data from the master to Input 257.

For more information about the WAGO CAN Open 750-337 Standard Buscoupler or the 750-837 Programmable Field controller, download the CAN Open Manual from the web site www.wago.com

Application note A202601

WAGO Kontakttechnik GmbH Postfach 2880 • D-32385 Minden Hansastraße 27 • D-32423 Minden Phone: 05 71/8 87 – 0 Telefax: 05 71/8 87 – 1 69 E-Mail: [email protected] WAGO Corporation USA N120W19129 Freistadt Road PO Box 1015 Germantown, Wi 53022 Phone: 1-262-255-6333 Fax: 1-262-255-3232 Internet:

http://www.wago.com

Call Toll Free: 1-800-DIN-RAIL (346-7245)