WAGO 767-5201 User manual

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WAGO-SPEEDWAY 767
Manual
767-5201
TTL Incremental/SSI Encoder
2 encoder interfaces (2 x M12) + 4 digital
inputs/outputs (2 x M12, 2 inputs/outputs per
connector)
Version 1.1.0
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2 WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
© 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
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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Table of Contents
1Notes about this Documentation................................................................. 6
1.1 Validity of these Operating Instructions ................................................... 6
1.2 Copyright................................................................................................... 6
1.3 Symbols..................................................................................................... 7
1.4 Number Notation....................................................................................... 9
1.5 Font Conventions ...................................................................................... 9
2Important Notes ......................................................................................... 10
2.1 Legal Bases ............................................................................................. 10
2.1.1 Subject to Changes ............................................................................. 10
2.1.2 Personnel Qualification ...................................................................... 10
2.1.3 Intended Use....................................................................................... 11
2.1.4 Technical Condition of Specified Devices ......................................... 11
2.2 Safety Advice (Precautions).................................................................... 12
2.3 Safety Equipment .................................................................................... 13
2.4 Notes on Operation ................................................................................. 14
3Device Description ..................................................................................... 15
3.1 Connectors............................................................................................... 18
3.2 Marking Possibilities and Fastening ....................................................... 19
3.3 Display Elements .................................................................................... 20
3.4 Labeling................................................................................................... 22
3.5 Schematic Diagram ................................................................................. 24
3.6 Dimensions.............................................................................................. 25
3.7 Technical Data ........................................................................................ 26
3.7.1 General Information ........................................................................... 26
3.7.2 Supply................................................................................................. 26
3.7.3 Communication .................................................................................. 26
3.7.4 Incremental Encoder Interface ........................................................... 27
3.7.5 SSI Encoder Interface......................................................................... 27
3.7.6 Digital Inputs ...................................................................................... 27
3.7.7 Input Characteristic ............................................................................ 28
3.7.8 Digital Outputs ................................................................................... 28
3.7.9 Information for Actuator Selection .................................................... 29
3.7.10 Effect of Operating States .................................................................. 29
3.7.11 Configurable Functions of the Incremental Encoder Interfaces......... 29
3.7.12 Configurable Functions of the SSI Encoder Interfaces ...................... 30
3.7.13 Configurable Functions of the Cam Output ....................................... 30
3.7.14 Configurable Functions of the PWM Outputs.................................... 30
3.7.15 Configurable Functions of the Digital Inputs/Outputs ....................... 30
3.7.16 Diagnostics ......................................................................................... 31
3.7.17 Process Image..................................................................................... 31
3.7.18 Indicators ............................................................................................ 31
3.7.19 Isolation .............................................................................................. 31
3.8 Approvals ................................................................................................ 32
3.9 Standards and Guidelines ........................................................................ 33
4Mounting..................................................................................................... 34

4 Table of Contents WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
4.1 Information on Mounting........................................................................ 34
4.2 Tools and Accessories Required for Mounting....................................... 36
4.3 Direct Mounting on Your System ........................................................... 37
4.4 Mounting on a Carrier Rail (only with WAGO Accessories)................. 38
4.4.1 Fastening the Carrier Rail Adapter to the Module ............................. 38
4.4.2 Fastening the Module with Carrier Rail Adapter to a Carrier Rail .... 39
4.5 Mounting on a Profile Rail (only with WAGO Accessories) ................. 40
4.5.1 Fastening the Profile Adapter to the Module ..................................... 40
4.5.2 Fastening the Module with Profile Adapter to a Profile Rail............. 41
4.6 Marking and Replacing the Marking Spaces .......................................... 42
4.7 Mounting the Spacer in the Case of Compact Arrangement................... 43
5Connecting Data and Supply Cables........................................................ 45
5.1 Notes ....................................................................................................... 45
5.2 Required Accessories .............................................................................. 46
5.3 Connecting the S-BUS Cables ................................................................ 47
5.4 Connecting the Supply Cable.................................................................. 49
5.5 Connecting Interface Cables ................................................................... 51
5.6 Connecting Sensor/Actuator Cables ....................................................... 53
6Commissioning ........................................................................................... 55
7Parameterizing ........................................................................................... 56
7.1 Electronic Type Label ............................................................................. 58
7.2 Diagnostic Overview............................................................................... 59
7.3 Counter Parameters ................................................................................. 62
7.3.1 Cam Parameters.................................................................................. 67
7.3.2 SSI Encoder Parameters ..................................................................... 68
7.4 Pulse Width Modulation Parameters....................................................... 70
7.5 Input and Output Parameters................................................................... 71
7.5.1 Connection Mode "Digital Output".................................................... 72
7.5.2 Connection Mode "Digital Input" ...................................................... 74
7.6 Global Settings ........................................................................................ 75
7.7 Field Supply Parameters ......................................................................... 76
7.8 Automatic Storage of System Parameters............................................... 77
7.9 Updating the Firmware ........................................................................... 77
8Process Image ............................................................................................. 78
8.1 Input Data................................................................................................ 79
8.2 Output Data ............................................................................................. 81
9Counter Function....................................................................................... 83
9.1 Operating Modes ..................................................................................... 84
9.2 Controlling and Monitoring the Counter via the Process Data ............... 85
9.2.1 Status Bytes ........................................................................................ 85
9.2.2 Control Bytes...................................................................................... 87
9.2.3 Example for Controlling Two Counters via Process Data ................. 89
10 Diagnostics.................................................................................................. 90
10.1 LED Signaling......................................................................................... 90
11 Service ......................................................................................................... 94
11.1 Updating the Firmware ........................................................................... 94

WAGO-SPEEDWAY 767 Table of Contents 5
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
11.2 Replacing the Module ............................................................................. 94
11.2.1 Disconnecting the Cables ................................................................... 94
11.2.2 Removing the Module from Your System ......................................... 95
11.2.3 Removing the Module from the Carrier Rail ..................................... 95
11.2.4 Removing the Module from the Profile Adapter................................ 96
11.2.5 Connecting the Module ...................................................................... 96
11.3 Disposal................................................................................................... 96
12 Appendix..................................................................................................... 97
12.1 Diagnostic Information ........................................................................... 97
List of Figures ...................................................................................................... 98
List of Tables........................................................................................................ 99
=== En de der Lis te für T extmar ke Verz eich nis_vor ne == =

6 Notes about this Documentation WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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1 Notes about this Documentation
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The module shall only be installed and operated in conjunction with these
operating instructions and the system description.
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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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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.
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1.1 Validity of these Operating Instructions
These operating instructions are only applicable to the WAGO SPEEDWAY 767
Series module TTL Incremental/SSI Encoder, 767-5201.
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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-SPEEDWAY 767 Notes about this Documentation 7
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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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.
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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 .4.3 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und so ns ti ge H in wei s e/ War nung / W arn ung : _ W arn ung vor Per so ne nsc h äde n al lg e mei n_ - 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.
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Personal Injury!
Indicates a low-risk, potentially hazardous situation which, if not avoided, may
result in minor or moderate injury.
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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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8 Notes about this Documentation WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
Additional Information:
Refers to additional information which is not an integral part of this
documentation (e.g., the Internet).
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WAGO-SPEEDWAY 767 Notes about this Documentation 9
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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1.4 Number Notation
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
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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10 Important Notes WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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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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WAGO-SPEEDWAY 767 Important Notes 11
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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2.1.3 Intended Use
The 767-5201 Module evaluates both incremental and absolute encoders with RS-
422 signal levels. Integrated DIOs allow outputs to be directly set and inputs to be
read depending on counter states. Two of the four DIO channels can also be used
as PWM outputs.
The module is supported by all series 767 fieldbus couplers of Release 5 or
higher.
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The module may not be used to control safety-related functions, i.e. it cannot be a
functional part of a safety function.
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The module may only be operated in combination with components of the WAGO
SPEEDWAY 767 Series.
The module was developed for applications requiring IP 67 (NEMA type 6, 6P)
protection.
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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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12 Important Notes WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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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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•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.
•The 767 Series device shall not come into contact with substances having
seeping and insulating properties. Otherwise, additional measures shall be

WAGO-SPEEDWAY 767 Important Notes 13
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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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14 Important Notes WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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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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WAGO-SPEEDWAY 767 Device Description 15
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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3 Device Description
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The 767-5201 module is a hybrid module, which is designed to connect 2
incremental encoders or SSI encoders. Each input can be individually configured
to one of the encoder types.
In addition, two of the connections can each be parameterized with two signal
channels as digital inputs or outputs.
Thus, the module offers space for connecting up to four digital sensors or
actuators. These can be configured as sub-signals to the counter channels, e.g. as
gate, latch, preset, or cam signals.
The following connections are possible:
•2 x M12, A-coded, 8 poles, either for connecting TTL incremental encoders
or SSI encoders
•2 x M12, A-coded, 5 poles, usable either for fast DIOs (or optionally as a
PWM output)
Counter function
•Incremental encoder interface function
When functioning as an incremental encoder interface, the module detects
the pulses from a connected incremental encoder. In this case, the rotational
direction of the encoder is recognized automatically due to the functionality
of the two clock signals.
Another option allows for the connection of a C track, by means of which a
zero set pulse or a preset pulse can be triggered.
•SSI encoder interface function
When functioning as an SSI encoder interface, the current counter reading
of the encoder is read in binary using an SSI interface (Synchronous Serial
Interface). The counter reading is stored in the module and output as a
process value.
Counter mode
•Event counter:
In the basic "counter" function, the module counts the pulses arriving at the
pulse input, whereby it automatically detects the counting direction.
•Gate time/frequency measurement:
The pulses are counted that occur within the gate time (a gate time of 1 s
results in the frequency in Hz).
•Gate time/cycle duration measurement:
The cycle duration is determined in µs.
A series of control functions have been implemented in the module, which can be
used to control the behavior of the counter.

16 Device Description WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
•Gate function
The gate function can be coupled to one of the 6 inputs on the device. If the
gate function is selected, the counter counts.
If the gate function is not selected, the current counter reading remains
unchanged ("frozen").
•Latch function
The latch function can be coupled to one of the 6 inputs on the device.
If the latch input is selected, then the current counter reading is saved. The
saved value can be displayed in the process image by means of a
corresponding command.
The latch function can be locked or unlocked by means of the process image
(control byte).
•Preset function
The preset function can be coupled to one of the 6 inputs on the device.
If the preset input is selected, the current counter reading is set to a
previously-defined preset value. This function is used, for example, to detect
the C track of the incremental encoders and set the counter value to zero.
The preset function can be locked or unlocked by means of the process
image (control byte).
•Cam function
You can use the cam function to set one of the device outputs when the
current counter reading is in a predefined value range.
Up to 4 cams can be defined for each counter channel. The lower and upper
limiting values and the output channel to be used can be parameterized for
each cam.
The encoder supply for the counter channels can be switched between 5 V and
24 V.
The positive switching digital inputs have a characteristic in accordance with
IEC61131-2, Type 3. They have extensive parameterization options such as filter
times or signal inversion.
The positive switching outputs are designed for 0.1 A (max. 0.2 A) and short
circuit/overload protected. Extensive parameterization options are also available
for the outputs, such as signal inversion, substitute value strategy or restart
behavior.
The properties (e.g. filter times) of all signal channels of the module can be
parameterized independently: depending on fieldbus, via the device description
file (e.g. GSD, GSDML, etc.) of a fieldbus or independent of the fieldbus, via an
FDT/DTM frame application such as WAGOframe.

WAGO-SPEEDWAY 767 Device Description 17
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
There are significantly more parameterization options when using the
WAGOframe FDT/DTM frame application than when parameterizing by means
of the device description files (GSD, GSDML, etc.).
In fact, some options are not available, or only available in a limited scope, when
parameterizing using the DD files (GSD, GSDML, etc.).
An invalid configuration, such as assigning different functions to one input, can
therefore generate error messages.
Detailed information about assignment of module parameters using a fieldbus is
provided in the corresponding manual (e.g., PROFIBUS Fieldbus Coupler
767-1101).
Detailed information regarding the properties of the module is available in the
Section "Device description" > "Technical data".
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18 Device Description WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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3.1 Connectors
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Figure 1: Connectors
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Table 3: Legend for figure "Connectors"
Position
Description
Function
1
S-BUS input
M12 plug, B-coded
For transmitting data from previous 767
Series components.
2
S-BUS output
M12 socket, B-coded
For transmitting S-BUS data to the next
767 Series components or to the S-BUS
terminator.
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3
Incremental encoder/SSI
encoder X3 and X4
M12 socket, A coded
For connecting an incremental/SSI
encoder.
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4
Digital inputs and outputs
X1 and X2, (double
assignment)
M12 socket, A coded
For connecting digital sensors or
actuators.
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5
Supply output
M12 socket, A coded
For providing system and/or actuator
power supply to adjacent I/O modules.
6
Supply input
M12 plug, A coded
For infeed of system and actuator supply.
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1
2
5
3
3
6
4
4

WAGO-SPEEDWAY 767 Device Description 19
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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3.2 Marking Possibilities and Fastening
Figure 2: Marking possibilities and fastening
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Table 4: Legend for figure "Marking possibilities and fastening"
Position
Description
Function
10
Module marker card
For identifying the module within a
fieldbus node.
11
Mounting holes
With integrated function earth (FE) socket
for fastening and grounding the module.
12
Marker strips
For identifying inputs.
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10
11
12
11

20 Device Description WAGO-SPEEDWAY 767
767-5201 TTL Incremental/SSI Encoder
Manual
Version 1.1.0
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3.3 Display Elements
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Figure 3: Display Elements
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Table 5: Legend for figure "Display elements"
Position
LED
Color
Meaning
15
SB
Green/red/orange
S-BUS status
16
F
Red
Diagnostic information
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17
Ch1.1
Green, yellow
Status of the TTL Incremental/SSI
Encoder Interfaces.
Detailed information can be found in
section "Diagnostics" > "LED
Signaling".
Ch1.2
Green, yellow,
red
Ch2.1
Green, yellow
Ch2.2
Green, yellow,
red
0 … 3
Yellow, red
Information about the inputs and
outputs.
Detailed information can be found in
section "Diagnostics" > "LED
Signaling".
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18
UA
Green
Actuator supply is present.
19
U
LS
Green
Logic supply and sensor supply are
present.
15
17
16
17
19
18