WAGO SPEEDWAY 767 Series User manual

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WAGO-SPEEDWAY 767
Manual
767-1501
FC CANopen 8DI 24V DC
CANopen Fieldbus Coupler
Version 2.2.0
Pos: 3 / All e Seri e n ( Al lg e m ein e M od ul e) /R ec htl ic h es , A ll ge mei n es /I mpr e ss um für Sta nd ard h an d büc h er - al lg . A ng a be n, Ansc hri ft en, T elef o nn u m mer n und E -Mai l-Adr es s e n @ 3\mod_1219151118203_21.docx@ 21060@ @ 1

2 WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
© 2016 by WAGO Kontakttechnik GmbH & Co. KG
All rights reserved.
WAGO Kontakttechnik GmbH & Co. KG
Hansastraße 27
D-32423 Minden
Phone: [phone] – 0
Fax: [phone] – 1 69
E-Mail: [email protected]om
Web: http://www.wago.com
Technical Support
Phone: [phone] – 5 55
Fax: [phone] – 85 55
E-Mail: [email protected]om
Every conceivable measure has been taken to ensure the accuracy and
completeness of this documentation. However, as errors can never be fully
excluded, we always appreciate any information or suggestions for improving the
documentation.
E-Mail: [e-mail]
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.
=== Ende d er Lis t e f ür Te xt mar ke Ei nb and _ vor n e = = =

WAGO-SPEEDWAY 767 Table of Contents 3
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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Table of Contents
1Notes about this Documentation................................................................. 9
1.1 Validity of these Operating Instructions ................................................... 9
1.2 Copyright................................................................................................... 9
1.3 Symbols................................................................................................... 10
1.4 Number Notation..................................................................................... 12
1.5 Font Conventions .................................................................................... 12
2Important Notes ......................................................................................... 13
2.1 Legal Bases ............................................................................................. 13
2.1.1 Subject to Changes ............................................................................. 13
2.1.2 Personnel Qualification ...................................................................... 13
2.1.3 Use in Compliance with Underlying Provisions ................................ 14
2.1.4 Technical Condition of Specified Devices ......................................... 14
2.2 Safety Advice (Precautions).................................................................... 15
2.3 Safety Equipment .................................................................................... 16
2.4 Notes on Operation ................................................................................. 17
3Information on CANopen.......................................................................... 18
3.1 Network Topology .................................................................................. 19
3.1.1 Physical Transmission Technology.................................................... 20
3.1.2 Wiring with Symmetrical Copper Cable ............................................ 20
3.1.3 Maximum Bus Lengths in CAN Networks ........................................ 22
3.2 Communication ....................................................................................... 22
4Device Description ..................................................................................... 23
4.1 Connectors............................................................................................... 24
4.2 Marking Possibilities and Fastening ....................................................... 25
4.3 Display Elements .................................................................................... 26
4.4 Operating Elements................................................................................. 28
4.5 Labeling................................................................................................... 30
4.6 Schematic Diagram ................................................................................. 32
4.7 Dimensions.............................................................................................. 33
4.8 Technical Data ........................................................................................ 34
4.8.1 Device Data ........................................................................................ 34
4.8.2 System Data........................................................................................ 34
4.8.3 Supply................................................................................................. 35
4.8.4 Communication .................................................................................. 35
4.8.5 Inputs .................................................................................................. 35
4.8.6 Configurable Functions ...................................................................... 36
4.8.7 Diagnostics ......................................................................................... 36
4.8.8 Process Image..................................................................................... 37
4.8.9 Indicators ............................................................................................ 37
4.8.10 Service Interface COM....................................................................... 37
4.8.11 Isolation .............................................................................................. 37
4.9 Approvals ................................................................................................ 38
4.10 Standards and Guidelines ........................................................................ 39
5Mounting..................................................................................................... 40
5.1 Information on Mounting........................................................................ 40

4 Table of Contents WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
5.2 Tools and Accessories Required for Mounting....................................... 42
5.3 Direct Mounting on Your System ........................................................... 43
5.4 Mounting on a Carrier Rail (only with WAGO Accessories)................. 44
5.4.1 Fastening the Carrier Rail Adapter to the Fieldbus Coupler .............. 44
5.4.2 Fastening the Fieldbus Coupler with Carrier Rail Adapter
to a Carrier Rail .................................................................................. 45
5.5 Mounting on a Profile Rail (only with WAGO Accessories) ................. 46
5.5.1 Fastening the Profile Adapter to the Fieldbus Coupler ...................... 46
5.5.2 Fastening the Fieldbus Coupler with Profile Adapter
to a Profile Rail................................................................................... 47
5.6 Replacing the Marker Card and Strip...................................................... 48
5.7 Mounting the Spacer in the Case of Compact Arrangement................... 49
6Connecting Data and Supply Cables........................................................ 51
6.1 Notes ....................................................................................................... 51
6.2 Required Accessories .............................................................................. 52
6.3 Connecting the Fieldbus Cable ............................................................... 53
6.3.1 Connecting the Fieldbus Coupler to a CAN Network........................ 54
6.3.2 Connecting Several Fieldbus Couplers Within a CAN Network ....... 55
6.4 Connecting the S-BUS Cable.................................................................. 56
6.5 Connecting the Supply Cable.................................................................. 58
6.6 Connecting the Sensor Cables................................................................. 60
6.7 Connecting the USB Cable ..................................................................... 62
7Commissioning ........................................................................................... 64
7.1 Setting the CANopen Station Address.................................................... 65
7.2 Setting the Baud Rate.............................................................................. 67
7.3 Switching on the Fieldbus Coupler ......................................................... 69
8Configuration ............................................................................................. 70
8.1 Process Data ............................................................................................ 70
8.2 EDS Files ................................................................................................ 71
8.3 PDO Mapping ......................................................................................... 73
8.3.1 Default PDO Mapping........................................................................ 74
8.3.2 Application-Specific Mapping ........................................................... 82
8.4 Enabling the Analog Input Data.............................................................. 85
8.5 Inputs on the CANopen Fieldbus Coupler .............................................. 85
8.6 Delayed I/O Module Start-Up................................................................. 86
8.7 S-BUS Disruption During Continuous Operation................................... 88
8.8 Activating Data Exchange....................................................................... 88
9Diagnostics.................................................................................................. 89
9.1 Diagnostic Messages from I/O Modules................................................. 89
10 Error Messages (Emergency).................................................................... 90
11 Object Directory......................................................................................... 93
11.1 Communication Profile Area .................................................................. 95
12 CANopen State Diagram........................................................................... 97
12.1 Initialization ............................................................................................ 97
12.2 Pre-Operational ....................................................................................... 98
12.3 Operational .............................................................................................. 98

WAGO-SPEEDWAY 767 Table of Contents 5
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
12.4 Stopped.................................................................................................... 98
13 CANopen Communication Objects.......................................................... 99
13.1 Process Data Object (PDO)..................................................................... 99
13.2 Service Data Object (SDO) ................................................................... 100
13.2.1 Initiate SDO Download .................................................................... 101
13.2.2 Download SDO Segment ................................................................. 103
13.2.3 Initiate SDO Upload ......................................................................... 104
13.2.4 Upload SDO Segment ...................................................................... 106
13.2.5 Abort SDO Transfer ......................................................................... 107
13.2.6 Examples of SDOs ........................................................................... 109
13.3 Node Guarding ...................................................................................... 111
13.4 Heartbeat Monitoring ............................................................................ 113
13.5 Synchronization Object, SYNC ............................................................ 114
13.5.1 SYNC Monitoring ............................................................................ 114
13.6 Emergency Object (EMCY).................................................................. 115
13.7 Network Management Protocol ............................................................ 115
13.7.1 Start Remote Node ........................................................................... 115
13.7.2 Stop Remote Node............................................................................ 116
13.7.3 Enter Pre-Operational....................................................................... 116
13.7.4 Reset Node........................................................................................ 117
13.8 Error Control Protocols ......................................................................... 118
13.8.1 Node Guarding Protocol................................................................... 118
13.8.2 Heartbeat Protocol ............................................................................ 119
13.8.3 Bootup Protocol................................................................................ 119
14 Diagnostics................................................................................................ 120
14.1 LED Signaling....................................................................................... 120
14.2 CANopen Status Messages ................................................................... 120
14.3 Operational Messages of the Fieldbus Coupler .................................... 123
14.4 Error Messages from the Fieldbus Coupler via LED Signals ............... 125
14.4.1 Progression of Blink Sequence......................................................... 126
14.4.2 Example of an Error Message via Blink Code ................................. 127
14.4.3 Meaning of the Blink Codes and Procedures for Correcting Them . 128
14.5 Readout of Blink Codes using WAGO DTMs...................................... 139
15 Parameterizing ......................................................................................... 140
15.1 Installing the FDT/DTM Components .................................................. 141
15.2 Starting WAGOframe ........................................................................... 144
15.3 Expansion of Device Catalog to include 767 Components................... 145
15.4 Setting Up Network Manually .............................................................. 146
15.4.1 Adding the Communication DTM.................................................... 146
15.4.2 Selecting the Communications Interface for WAGOframe ............. 148
15.4.3 Adding a Fieldbus Coupler............................................................... 149
15.4.4 Adding the I/O Modules................................................................... 150
15.5 Online and Offline Parameter Setting ................................................... 152
15.5.1 Offline Parameter Setting ................................................................. 152
15.5.2 Online Parameter Setting.................................................................. 153
15.6 The “Additional Functions” and “Scan” Selections.............................. 155
15.6.1 Changing the Bus Address ............................................................... 156
15.6.2 Service Page ..................................................................................... 158

6 Table of Contents WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
15.6.3 Set up network automatically ........................................................... 159
15.6.4 Life List ............................................................................................ 160
15.6.5 System Update.................................................................................. 162
15.6.5.1 Notes on System Update.............................................................. 162
15.6.5.2 Service Communication via USB................................................ 162
15.6.5.2.1 Adding the Communication DTM USB ................................. 162
15.6.5.2.2 Adding the DTM System Update............................................ 165
15.6.5.2.3 Go online to 767 Nodes using Update DTM .......................... 166
15.6.5.2.4 Updating the 767 Components................................................ 166
15.7 Parameterization.................................................................................... 172
15.7.1 General Parameters........................................................................... 174
15.7.2 CANopen-Specific Parameters......................................................... 181
15.7.3 Diagnostic Overview and Parameters of Inputs ............................... 182
16 Service ....................................................................................................... 186
16.1 Updating the Firmware ......................................................................... 186
16.2 Replacing the Fieldbus Coupler ............................................................ 186
16.2.1 Disconnecting the Cables ................................................................. 186
16.2.2 Removing the Fieldbus Coupler from your System ......................... 187
16.2.3 Removing the Fieldbus Coupler from the Carrier Rail .................... 187
16.2.4 Removing the Fieldbus Coupler from the Profile Adapter .............. 188
16.2.5 Connecting a New Fieldbus Coupler................................................ 188
16.3 Disposal................................................................................................. 188
17 Use in Hazardous Environments ............................................................ 189
17.1 Marking Configuration Examples......................................................... 190
17.1.1 Marking for Europe According to ATEX and IEC-Ex .................... 190
17.2 Installation Regulations......................................................................... 191
17.2.1 Special Conditions for Safe Use
(ATEX Certificate BVS 15 ATEX E098X) ..................................... 192
17.2.2 Special Conditions for Safe Use
(IEC Ex Certificate IECEx BVS 15.0083X) .................................... 193
18 Accessories ................................................................................................ 194
18.1 S-BUS Cable, Assembled on One End ................................................. 194
18.2 S-BUS Cable, Assembled on One End, Suitable for Drag Chains ....... 195
18.3 S-BUS Cable, Assembled on Both Ends............................................... 196
18.4 S-BUS Cable, Assembled on Both Ends, Suitable for Drag Chains..... 197
18.5 S-BUS Cable, Not Fitted With Connectors........................................... 197
18.6 S-BUS Cable, Not Fitted With Connectors, Suitable for Drag Chains. 198
18.7 S-BUS Terminator and USB Cable....................................................... 198
18.8 Accessories for S-BUS.......................................................................... 198
18.9 Power Supply Cable, Assembled on One End ...................................... 199
18.10 Power Supply Cable, Assembled on Both Ends ................................... 200
18.11 Power Supply Cable, Not Fitted With Connectors ............................... 200
18.12 Accessories for Power Supply Cable .................................................... 201
18.13 CANopen, DeviceNet Cable, Assembled on One End ......................... 201
18.14 CANopen, DeviceNet Cable, Assembled on Both Ends....................... 202
18.15 Accessories for CANopen and DeviceNet ............................................ 202
18.16 Torque Wrench M8 and M12................................................................ 202
18.17 Carrier Rail / Profile Adapters and Spacer Module .............................. 203

WAGO-SPEEDWAY 767 Table of Contents 7
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
18.18 Protective Caps...................................................................................... 203
19 Appendix................................................................................................... 204
19.1 CANopen Objects of the Fieldbus Coupler .......................................... 204
19.1.1 Object 0x1000, Device Type............................................................ 204
19.1.2 Object 0x1001, Error Register.......................................................... 205
19.1.3 Object 0x1003, Pre-Defined Error Field .......................................... 206
19.1.4 Object 0x1005, COB-ID SYNC Message ........................................ 206
19.1.5 Object 0x1006, Communication Cycle Period................................. 207
19.1.6 Object 0x1008, Manufacturer Device Name.................................... 207
19.1.7 Object 0x1009, Manufacturer Hardware Version ............................ 207
19.1.8 Object 0x100A, Manufacturer Software Version............................. 207
19.1.9 Object 0x100C, Guard Time ............................................................ 208
19.1.10 Object 0x100D, Life Time Factor .................................................... 208
19.1.11 Object 0x1010, Store Parameters ..................................................... 209
19.1.12 Object 0x1011, Restore Default Parameters .................................... 210
19.1.12.1 Sub-Index 1 - Permanent Creation of Default Parameters .......... 210
19.1.12.2 Sub-Index 4 – One-Time Creation of Default Parameters .......... 211
19.1.13 Object 0x1014, COB ID Emergency Object .................................... 211
19.1.14 Object 0x1015, Inhibit Time Emergency Object ............................. 212
19.1.15 Object 0x1016, Consumer Heartbeat Time ...................................... 213
19.1.16 Object 0x1017, Producer Heartbeat Time........................................ 213
19.1.17 Object 0x1018, Identity Object ........................................................ 214
19.1.18 Object 0x1029, Error Behavior ........................................................ 215
19.1.19 Object 0x1200 – 0x1201, Server SDO ............................................. 216
19.1.20 Object 0x1400 – 0x141F, Receive PDO Communication
Parameter.......................................................................................... 217
19.1.21 Object 0x1600 – 0x161F, Receive PDO Mapping Parameter.......... 219
19.1.22 Object 0x1800 – 0x181F, Transmit PDO Communication
Parameter.......................................................................................... 220
19.1.23 Object 0x1A00 – 0x1A1F, Transmit PDO Mapping Parameter ...... 223
19.2 Manufacturer-Specific Profile Area, Object 0x2000 – 0x5FFF........... 224
19.2.1 Object 0x37F1, Fieldbus Coupler CS LED Flash Signals ............... 224
19.2.2 Object 0x37F5, Fieldbus Coupler Diagnostics................................. 225
19.2.3 Object 0x37F6, Fieldbus Coupler Diagnostic Acknowledgement ... 226
19.2.4 Object 0x5000, Read Input Process Image....................................... 227
19.2.5 Object 0x5001, Write Output Process Image ................................... 228
19.2.6 Object 0x5200, Coupler Configuration Object ................................ 229
19.2.7 0x5202 Module Configuration Object.............................................. 230
19.2.8 Object 0x5300 – 0x5340, Input Data of I/O Modules...................... 231
19.2.9 Object 0x5400 – 0x5440, Output Data of the I/O Modules ............. 233
19.3 Standard Device Profile Area – DS 401, from Object 0x6000 ............. 235
19.3.1 Object 0x6000, Digital Inputs .......................................................... 237
19.3.2 Object 0x6005, Global Interrupt Enable Digital, 8 Bit .................... 237
19.3.3 Object 0x6006, Interrupt Mask Any Change, 8 Bit.......................... 238
19.3.4 Object 0x6007, Interrupt Mask Low-to-High, 8 Bit......................... 239
19.3.5 Object 0x6008, Interrupt Mask High-to-Low, 8 Bit......................... 240
19.3.6 Object 0x6200, Digital Outputs........................................................ 241
19.3.7 Object 0x6206, Error Mode Output, 8 Bit........................................ 241
19.3.8 Object 0x6207, Error Value Output, 8 Bit ....................................... 242
19.3.9 Object 0x6401, Analog Inputs, 16 Bit.............................................. 243

8 Table of Contents WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
19.3.10 Object 0x6411, Analog Outputs, 16 Bit ........................................... 243
19.3.11 Object 0x6421, Analog Input Interrupt Trigger Selection ............... 244
19.3.12 Object 0x6423, Analog Input Global Interrupt Enable .................... 245
19.3.13 Object 0x6424, Analog Input Interrupt Upper Limit Integer ........... 245
19.3.14 Object 0x6425, Analog Input Interrupt Lower Limit Integer........... 246
19.3.15 Object 0x6426, Analog Input Interrupt Delta Unsigned .................. 247
19.3.16 Object 0x6427, Analog Input Interrupt Negative Delta Unsigned... 248
19.3.17 Object 0x6428, Analog Input Interrupt Positive Delta Unsigned .... 249
19.3.18 Object 0x6443, Analog Output Error Mode..................................... 250
19.3.19 Object 0x6444, Analog Output Error Value Integer ........................ 250
19.3.20 Object 0x67FE, Error Behavior........................................................ 251
19.3.21 Reserved Range ................................................................................ 251
List of Figures .................................................................................................... 252
List of Tables...................................................................................................... 255
=== En de der Lis te für T extmar ke Verz eich nis_vor ne == =

WAGO-SPEEDWAY 767 Notes about this Documentation 9
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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1 Notes about this Documentation
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The fieldbus coupler shall only be installed and operated in conjunction with these
operating instructions and the system description.
Pos: 9 / Al le Ser ie n (Al lg em eine M od ul e)/Si c her hei ts- undsonstigeHinweise/HinweisHinweis:Dokumentation aufbewahren@ 4\mod_1237987339812_21.docx@ 29026@ @ 1
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.
Pos: 10 /S er ie 76 7 ( WA GO -S PE ED W AY) / Wic hti g e E rl ä ut eru ng e n/ Sic her h eit s hin w eis e/ W ar n ung/ Warnung:ReleaseNotesbeachten@ 8\mod_1278912368761_21.docx@ 59530@ @ 1
Observe release notes!
Please note that, within the SPEEDWAY system, a function is provided without
restriction only if all system's components have the same system-wide firmware
release. Therefore, always observe the appropriate release notes on products used.
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Supply layout!
In addition to these operating instructions, you will need the “WAGO
SPEEDWAY 767, System Description and Information” manual, which can be
downloaded at www.wago.com. There you will find information regarding supply
layout, etc.
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1.1 Validity of these Operating Instructions
These operating instructions are only applicable to the WAGO SPEEDWAY 767
Series fieldbus coupler FC CANopen 8DI 24V DC, 767-1501.
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1.2 Copyright
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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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10 Notes about this Documentation WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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1.3 Symbols
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Personal Injury!
Indicates a high-risk, imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Pos: 13 .5.2 /Al le Seri en (All gemei ne Mod ule)/ Sicher heits- u nd sons ti g e Hi n weis e/ Ge fahr /G ef a hr: _War nu ng vor P er s onen sc hä de n d urc h el e ktri sc he n S tro m_ - Erläuterung@ 13\mod_1343309694914_21.docx@ 10103 0 @ @ 1
Personal Injury Caused by Electric Current!
Indicates a high-risk, imminently hazardous situation which, if not avoided, will
result in death or serious injury.
Pos: 13 .5.3 /Al le Seri en (All gemei ne Mod ule)/ Sicher heits- u nd sons tig e H i n weis e/ W ar nung / W ar nung : _W arnung vor P erso nensc häde n allgem ein_ - Erläuterung@ 13\mod_1343309877041_21.docx@ 101035@ @ 1
Personal Injury!
Indicates a moderate-risk, potentially hazardous situation which, if not avoided,
could result in death or serious injury.
Pos: 13 .5.4 /Al le Seri en (All gemei ne Mod ule)/ Sicher heits- u nd sons ti g e Hi n weis e/ Vors ic ht /V ors ic ht: _War n ung vor Per s one nsc hä d en al lg em ein _ - Erläuterung@ 13\mod_1343310028762_21.docx@ 101038@ @ 1
Personal Injury!
Indicates a low-risk, potentially hazardous situation which, if not avoided, may
result in minor or moderate injury.
Pos: 13 .5.5 /Al le Seri en (All gemei ne Mod ule)/ Sicher heits- u nd sons ti g e Hi n weis e/ Ac htu ng/ Ac htu ng : _War nu ng vor Sachs c häd en allg e mei n_ - Erläuterung@ 13\mod_1343310134623_21.docx@ 101041@ @ 1
Damage to Property!
Indicates a potentially hazardous situation which, if not avoided, may result in
damage to property.
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Damage to Property Caused by Electrostatic Discharge (ESD)!
Indicates a potentially hazardous situation which, if not avoided, may result in
damage to property.
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Important Note!
Indicates a potential malfunction which, if not avoided, however, will not result in
damage to property.
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WAGO-SPEEDWAY 767 Notes about this Documentation 11
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
Additional Information:
Refers to additional information which is not an integral part of this
documentation (e.g., the Internet).
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12 Notes about this Documentation WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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1.4 Number Notation
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Table 1: Number Notation
Number Code
Example
Note
Decimal
100
Normal notation
Hexadecimal
0x64
C notation
Binary
'100'
'0110.0100'
In quotation marks, nibble separated with
dots (.)
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1.5 Font Conventions
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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
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
Input
Designation of input or optional fields are marked in bold letters,
e.g.: Start of measurement range
“Value”
Input or selective values are marked in inverted commas.
e.g.: Enter the value “4 mA” under Start of measurement range.
[Button]
Pushbuttons in dialog boxes are marked with bold letters in square
brackets.
e.g.: [Input]
[Key]
Keys are marked with bold letters in square brackets.
e.g.: [F5]
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WAGO-SPEEDWAY 767 Important Notes 13
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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2 Important Notes
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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.
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2.1 Legal Bases
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2.1.1 Subject to Changes
WAGO Kontakttechnik GmbH & Co. KG reserves the right to provide for any
alterations or modifications that serve to increase the efficiency of technical
progress. WAGO Kontakttechnik GmbH & Co. KG owns all rights arising from
the granting of patents or from the legal protection of utility patents. Third-party
products are always mentioned without any reference to patent rights. Thus, the
existence of such rights cannot be excluded.
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2.1.2 Personnel Qualification
All sequences implemented on the module may only be carried out by electrical
specialists with sufficient knowledge in automation. The specialists must be
familiar with the current standards and guidelines for the module and automation
environment.
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14 Important Notes WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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2.1.3 Use in Compliance with Underlying Provisions
The CANopen fieldbus coupler provides digital process data from digital and
analog I/O modules. The data is gathered by the fieldbus coupler and made
available to a higher-level controller for further processing.
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The fieldbus coupler shall not be used to control safety-related functions; i.e.,
emergency-off devices shall not be operated with this fieldbus coupler.
The fieldbus coupler may only be operated in combination with components of
the WAGO SPEEDWAY 767 Series.
The fieldbus coupler was developed for applications requiring IP 67
(NEMA type 6, 6P) protection.
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The fieldbus coupler is expandable by a maximum of 64 I/O modules from the
WAGO SPEEDWAY 767 Series.
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Applications other than those described in this manual are not permitted.
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2.1.4 Technical Condition of Specified Devices
The devices to be supplied ex works are equipped with hardware and software
configurations, which meet the individual application requirements. WAGO
Kontakttechnik GmbH & Co. KG will be exempted from any liability in case of
changes in hardware or software as well as to non-compliant usage of devices.
Please send your request for modified and new hardware or software
configurations directly to WAGO Kontakttechnik GmbH & Co. KG.
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WAGO-SPEEDWAY 767 Important Notes 15
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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2.2 Safety Advice (Precautions)
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Electric voltage!
Operate the 767 Series components exclusively with 24 VDC PELV (Protective
Extra Low Voltage) or SELV (Safety Extra Low Voltage) voltage sources. Failure
to comply may result in electric shock.
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Hot connection sockets!
Even when taking into account derating, high surface temperatures on the metallic
connection sockets and on the enclosure can arise during operation. If the 767
Series component has been in operation, allow it to cool off before moving it.
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The highest current carrying capacity of the supply contacts is 4 A!
Always observe the maximum current carrying capacity per supply line (ULS, UA)
for each 767 Series component and the overall power consumption for all
767 components. Neither of these values shall exceed 4 A since an increase in
current causes the contacts to overheat and damages the 767 Series components.
Information regarding the power demand of each 767 Series component can be
found in the corresponding data sheet, which is available from www.wago.com.
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Exposed connections!
If connections have not been closed with protective caps, liquid or dirt can
penetrate the components of the 767 Series module and ruin it. Therefore, close
all unnecessary connections with protective caps, which must be ordered
separately, in order to maintain the IP67 degree of protection. (See section
“Accessories” of the fieldbus coupler/controller manual.)
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•Always keep the cover cap of the DIP switch closed.
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•Disconnect the power supply from the system on which you wish to mount
the 767 Series device.
•Observe the appropriate accident prevention regulations for your system
during assembly, start-up, maintenance, and repairs. For example, BGV A3,
“Electrical systems and equipment”.
•The operating instructions for the 767 Series module and the system
description must be laid out ready on site.
•Observe the exact positioning (coding) between plug and socket.

16 Important Notes WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
•The 767 Series device shall not come into contact with substances having
seeping and insulating properties. Otherwise, additional measures shall be
taken for the device, such as installation of an enclosure that is resistant to
the above-mentioned substance properties.
•Electronic components fulfilling the ESD requirements according to the IEC
61000-6-2 are integrated in the 767 device. As higher voltages may occur,
under unfavorable circumstances, due to electrical charge in the field,
discharge must be ensured before performing work on the 767 system.
•Ensure that the potential equalization is correctly laid out.
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•Keep all cables a sufficient distance away from electromagnetic sources of
interference in order to maintain a high level of interference resistance of
the 767 system against electromagnetic emissions. Use only shielded cables
at the necessary locations, and always observe the appropriate standards for
EMC-suitable installations.
•For the power supply and for the S-BUS, use only pre-assembled WAGO
system cables, so the specified characteristics of the technical data can be
achieved.
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•Replace defective or damaged modules (e.g., deformed connections), else
function disruptions can occur in the respective fieldbus stations or nodes.
•When laying any cables, make sure that you do not lay them within the
shear range of movable machine parts.
•For each activity, observe the corresponding personnel qualification in the
corresponding section.
•Observe the marking on the front and rear side of the module.
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2.3 Safety Equipment
All 767 Series products are designed to meet the requirements of IP67. This
includes complete protection against accidental contact with electrical voltage and
currents – even when wet.
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WAGO-SPEEDWAY 767 Important Notes 17
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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2.4 Notes on Operation
When integrating the 767 module in your machine or system, all the currently
applicable norms, regulations and guidelines shall be observed during all
activities: for example, BGV A3, “Electrical systems and equipment”,
DIN EN 418, EN 60204. The emergency stop equipment shall remain effective in
all operating modes of the system and machine.
For protection from electromagnetic interferences
•Connect your system to protective earth (PE), and
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•Ensure that the cable routing and the installation of the fieldbus cable, S-
BUS cable, supply cable, and sensor or actuator cable are correct.
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The following elements for 24 V supply shall be present:
•Outer lightning protection on buildings
•Inner lightning protection of supply lines and signal lines
•Safe electrical separation of low voltage 24 VDC through PELV (Protective
Extra Low Voltage) or SELV (Safety Extra Low Voltage) voltage sources
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18 Information on CANopen WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
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3 Information on CANopen
CAN ("Controller Area Network") was developed in the mid-1980s for data
transmission in automobiles.
CANopen describes the application level based on the CAN bus system. As a
standard application level, CANopen is defined by specification DS 301 of CiA
("CAN in Automation"). The CANopen Network Management enables a
simplified start of the CAN bus, which can be expanded within the approved
range.
CAN is a multi-master bus system. Contrary to other fieldbus systems, the bus
devices connected to the CAN are not addressed; instead, the telegrams are
identified. The users are always allowed to send telegrams when there is data
traffic on the CAN bus. Bus conflicts are solved because the telegrams are
assigned a specific priority. This priority is determined by the COB ID
("Communication Object Identifier") and is unambiguously assigned to a
communication object. The smaller the identifier, the higher the priority.
The CANopen specification (DS 301) defines the technical and functional
characteristics of CANopen. The CANopen specification allows for additional
device profiles, in which the objects and communication parameters of devices in
a particular application area are specified. The fieldbus coupler supports device
profile DS-401 ("Device Profile for Generic I/O Modules"). The flash signals
RUN and ERR LED on the fieldbus coupler correspond to the supplementary
CANopen specification "DR303 Part 3 Indicator Specification."
The CANopen protocol implemented in a device is designated as a CANopen
application. Most adjustments to the CANopen protocol can be found in the
manufacturer-specific area of the object directory and within the supported error
messages ("Emergency").

WAGO-SPEEDWAY 767 Information on CANopen 19
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
3.1 Network Topology
The CAN network is set up as a linear topology with terminating resistors
(120 Ohm). In the CAN network, all devices are wired in parallel. This requires
the CAN bus cable to be looped through without disruption.
All devices in the CAN network communicate with the same baud rate. The bus
structure (disconnected from power supply) enables devices to be added and
removed in a non-reactive manner; it also enables step-by-step startup of the CAN
bus. Later upgrades have no effect on CANopen devices that are already in
operation. If a device malfunctions or if a new device is added to the CAN bus, it
is automatically detected.
The maximum number of physical devices on the CAN network depends on the
input impedance of the CAN bus drivers being used. The CAN bus driver utilized
in the fieldbus coupler allows a total of 120 CANopen devices to be connected.
Star repeaters enable branching in linear structures and thus the setup of hierarchal
network structures. If repeaters are used, the maximum possible quantity of 127
CANopen devices can be achieved, or the network reach (bus length) can be
enlarged. However, when using repeaters the internal delay of the repeaters
should be taken into account when calculating the network reach. Another
advantage of the repeaters is error suppression. Without repeaters, all
communication in the CAN network would fail if a short circuit arose between
CAN_High and CAN_Low. Using repeaters would cause the error to only have an
effect on the subsegment that is disconnected by the repeaters. The rest of the
network would continue to function without constraint. In addition, repeaters can
also enable the implementation of subsegments with fiber optic cable. This
illustrates the advantage of isolating high-frequency interference signals, through
which subsegments can be conducted even in environments with electrical
interference.

20 Information on CANopen WAGO-SPEEDWAY 767
767-1501 FC CANopen 8DI 24V DC
Manual
Version 2.2.0
3.1.1 Physical Transmission Technology
CANopen is based on CAN, which is standardized as a communication medium
in the ISO 11898 specification.
3.1.2 Wiring with Symmetrical Copper Cable
Signal transmission through symmetrical copper cable ("twisted pair") is
established with a transfer rate of 125 KBit/s – 1 Mbit/s. STP ("shielded twisted
pair") is to be used as a transmission medium.
For wiring with shielded copper cable (3 x 0.25 mm²), the corresponding plug
with the CAN_High, CAN_Low and CAN_GND connections is to be used.
CAN_High and CAN_Low are two physically different bus signal levels.
CAN_GND is the collective reference potential.
The cable's shielding can be placed on the CAN_SHLD connection.
Each CANopen node forms the VDiff differential voltage from the CAN_High and
CAN_Low bus signal levels as follows: VDiff = VCAN_High - VCAN_Low.
The differential signal transmission offers the benefit of insensitivity to common
mode interferences and potential differences between the CANopen nodes.
If the bus signal levels are found to be recessive, a voltage of 2.5 V is present
between CAN_Low and CAN_GND, as well as between CAN_High and
CAN_GND. The differential voltage amounts to 0 V.
If the bus signal levels are found to be dominant, a voltage of 1.5 V is present
between CAN_Low and CAN_GND, and a voltage of 3.5 V between CAN_High
and CAN_GND. The differential voltage amounts to approx. 2 V.
Check to ensure correct installation of the terminating resistors by using an
ohmmeter to measure resistance. Please see the following figure:
Figure 1: Measuring principle to check CAN bus before startup
Ohmmeter