WAGO WAGO-I/O-IPC-C6 User manual

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Manual
WAGO-I/O-SYSTEM 750
WAGO-I/O-IPC-C6
758-874/000-131
PROFIBUS DP Master, CoDeSys 2.3, Telecontrol
Version 1.0.0
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2 WAGO-I/O-SYSTEM 750
758-874/000-131 WAGO-I/O-IPC-C6
Manual
Version 1.0.0
© 2012 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]
Web: http://www.wago.com
Technical Support
Phone: [phone] – 5 55
Fax: [phone] – 85 55
E-Mail: [email protected]
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: [email protected]
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 der Liste für Textmarke Einband_vorne == =

WAGO-I/O-SYSTEM 750 Table of Contents 3
758-874/000-131 WAGO-I/O-IPC-C6
Manual
Version 1.0.0
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Table of Contents
1Notes about this Documentation............................................................... 10
1.1 Validity of these Operating Instructions ................................................. 10
1.2 Copyright................................................................................................. 10
1.3 Symbols................................................................................................... 11
1.4 Number Notation..................................................................................... 13
1.5 Font Conventions .................................................................................... 13
2Important Notes......................................................................................... 14
2.1 Legal Bases ............................................................................................. 14
2.1.1 Subject
to Changes ............................................................................. 14
2.1.2 Personnel
Qualification ...................................................................... 14
2.1.3 Use in Compliance with Underlying Provisions ................................ 15
2.1.4 Technical Condition of Specified Devices......................................... 15
2.2 Safety Advice (Precautions).................................................................... 16
2.3 Safety
Equipment.................................................................................... 17
2.4 Notes on Operation ................................................................................. 17
2.5 Special Use Conditions for ETHERNET Devices.................................. 17
3Scope of Delivery........................................................................................ 18
4Device Description ..................................................................................... 19
4.1 Overview of Physical Interfaces ............................................................. 21
4.2 Display Elements .................................................................................... 23
4.3 Operating Elements................................................................................. 24
4.4 Battery..................................................................................................... 26
4.5 Labeling................................................................................................... 27
4.6 Technical Data ........................................................................................ 28
4.6.1 Device Data ........................................................................................ 28
4.6.2 System Data........................................................................................ 29
4.6.3 Supply................................................................................................. 29
4.6.4 Communication .................................................................................. 30
4.6.5 Protection and Security....................................................................... 30
4.6.6 Runtime System.................................................................................. 30
4.6.7 Environmental Requirements ............................................................. 30
4.6.8 Wire Connection................................................................................. 31
4.7 Standards and Guidelines........................................................................ 31
4.7.1 Electromagnetic Compatibility........................................................... 31
4.8 Approvals ................................................................................................ 32
5Description of I/O-IPC Interfaces............................................................ 33
5.1 ETHERNET Interfaces (X8, X9)............................................................ 33
5.2 Interface for Electronic Power Supply (X4) ........................................... 34
5.3 PROFIBUS Interface (X3)...................................................................... 35
5.4 Integrated Inputs and Outputs (X5)......................................................... 36
5.5 USB Interfaces (X10, X11)..................................................................... 39
5.6 RS-232 Serial Interface (X6) .................................................................. 40
5.7 DVI-I Interface (X7) ............................................................................... 41
6Installing and Removing the I/O-IPC......................................................43

4 Table of Contents WAGO-I/O-SYSTEM 750
758-874/000-131 WAGO-I/O-IPC-C6
Manual
Version 1.0.0
6.1 Instructions for Installation/Removal...................................................... 43
6.2 Accessories Required for Installation ..................................................... 44
6.3 Acceptable Mounting Directions for the I/O-IPC................................... 44
6.4 Securing the I/O-IPC to a Mounting Rail ............................................... 45
6.5 Connecting the I/O Module to the I/O-IPC............................................. 46
6.6 Dismounting the I/O-IPC ........................................................................ 48
6.6.1 Disconnecting Cables and Conductors............................................... 48
6.6.2 Removing the I/O-IPC from the Mounting Rail................................. 49
7Connecting the Supply Voltage................................................................. 50
7.1 Notes ....................................................................................................... 50
7.2 Required Accessories .............................................................................. 51
7.3 Power supply via 750-602 Supply Module............................................. 52
7.4 Power supply via 750-626 Filter Module................................................ 56
7.5 Connecting Sensor and Actuator Lines to I/O Modules ......................... 58
8Commissioning........................................................................................... 59
8.1 Turning the I/O-IPC On .......................................................................... 59
8.2 Determining the IP Address of a Host PC .............................................. 60
8.3 Setting Up an IP Address ........................................................................ 61
8.3.1 Assigning an IP Address Using BootP............................................... 61
8.3.2 Changing an IP Address Using the Linux Console
(IPC Configuration Tool) ................................................................... 65
8.4 Testing the Network Connection ............................................................ 68
8.5 Switch Off/Re-start ................................................................................. 69
9Configuration ............................................................................................. 70
9.1 Web-Based Management (WBM)........................................................... 71
9.1.1 User Administration of WBM............................................................ 72
9.1.2 "Information" Page............................................................................. 73
9.1.3 "CoDeSys" Page................................................................................. 74
9.1.4 "TCP/IP" Page .................................................................................... 75
9.1.5 "ETHERNET" Page ........................................................................... 76
9.1.6 "NTP" Page ........................................................................................ 76
9.1.7 "Clock" Page ...................................................................................... 77
9.1.8 "Users"
Page....................................................................................... 78
9.1.9 "HMI Settings" Page .......................................................................... 79
9.1.10 "Administration" Page........................................................................ 81
9.1.11 "Package Server" Page ....................................................................... 83
9.1.12 "Mass Storage" Page .......................................................................... 85
9.1.13 "Downloads" Page.............................................................................. 85
9.1.14 "Port"
Page ......................................................................................... 86
9.1.15 "MODBUS" Page............................................................................... 86
9.1.16 Page „SNMP“..................................................................................... 87
9.1.17 I/O Configuration ............................................................................... 88
9.1.18 "WebVisu" Page................................................................................. 89
9.2 Configuration with a Terminal Program................................................. 89
9.3 Configuration with Touch screen/Monitor and USB Keyboard ............. 90
10 MODBUS/TCP........................................................................................... 91
10.1 Process Data of the MODBUS Server .................................................... 92
10.2 Accessing the Process Image via MODBUS Functions ......................... 92

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10.2.1 Register Services ................................................................................ 93
10.2.2 Bit Services......................................................................................... 94
10.3 Configuration Tab ................................................................................... 95
11 CoDeSys 2.3 Runtime Environment......................................................... 97
11.1 Process Images ........................................................................................ 97
11.1.1 Process Image for the I/O Modules Connected to the I/O-IPC.......... 97
11.1.2 Process Image for the Slaves Connected to the I/O-IPC.................... 98
11.2 Syntax of Logical Addresses................................................................... 98
11.3 Access to the Process Images of the Input and Output Data via
CoDeSys 2.3............................................................................................ 99
11.4 Addressing Example ............................................................................. 102
11.5 Installing the Programming System CoDeSys 2.3 (WAGO-I/O-PRO
CAA) ..................................................................................................... 103
11.6 The First Program with CoDeSys 2.3 ................................................... 103
11.6.1 Start the CoDeSys Programming System......................................... 103
11.6.2 Designing a Project and Selecting the Target System...................... 104
11.6.3 Creating the PLC Configuration....................................................... 106
11.6.4 Editing a Program Function Block................................................... 110
11.6.5 Loading and Executing the PLC Program in Control
(ETHERNET)................................................................................... 112
11.6.6 Loading and Executing the PLC Program in Control (RS 232)...... 114
11.6.7 Creating a Boot Project .................................................................... 116
11.7 Creating a Task Configuration.............................................................. 117
11.7.1 Cyclical Task Priorities .................................................................... 119
11.7.2 Freewheeling Tasks .......................................................................... 120
11.8 System events........................................................................................ 121
11.9 I/O Module Synchronization................................................................. 123
11.9.1 Case 1: The CoDeSys task interval is set as less than the
I/O module cycle .............................................................................. 123
11.9.2 Case 2: The CoDeSys task interval is less than double the
I/O module cycle .............................................................................. 124
11.9.3 Case 3: The CoDeSys task interval is greater than double the I/O
module cycle..................................................................................... 125
11.9.4 Case 4: CoDeSys Task interval greater than 10 ms ......................... 126
11.10 CoDeSys Visualization ......................................................................... 127
11.10.1 Incorporating Fonts .......................................................................... 129
11.10.2 Limitations of the CoDeSys Visualization....................................... 130
11.10.3 Eliminating CoDeSys Web Visualization Errors ............................. 132
11.10.4 Frequently Asked Questions About CoDeSys Web Visualization... 133
12 PROFIBUS Master in CoDeSys 2.3 ....................................................... 135
12.1 PROFIBUS I/O-IPC PLC Configuration.............................................. 135
12.2 PLC Configuration Setting Choices...................................................... 139
12.2.1 PROFIBUS-Master (I/O-IPC).......................................................... 139
12.2.2 PROFIBUS Slaves............................................................................ 144
12.3 Access to the PROFIBUS Process Data................................................ 149
12.4 Loading the Program in the I/O-IPC..................................................... 151
12.5 Diagnostics of the fieldbus coupler....................................................... 152
12.5.1 Releasing the Channel Diagnostics .................................................. 152
12.5.2 DiagGetBusState()
and DiagGetState()............................................ 154

6 Table of Contents WAGO-I/O-SYSTEM 750
758-874/000-131 WAGO-I/O-IPC-C6
Manual
Version 1.0.0
12.5.3 Creation of Diagnostic Functions in CoDeSys 2.3........................... 155
12.5.4 Calling the Diagnostic Block............................................................ 157
12.5.5 Performing Bus Diagnostics via DiagGetBusState() ....................... 158
12.5.6 Performing Device Diagnostics via DiagGetState()......................... 160
12.5.7 Analyzing PROFIBUS Diagnostics of Individual I/O Modules ...... 160
13 Incorporation of C-Functions as CoDeSys Library.............................. 166
13.1 Example for Linking a Dynamic Library.............................................. 166
13.1.1 Developing and Compiling a Linux Shared Library ........................ 166
13.1.2 Creating a Description File for the CoDeSys Runtime System ....... 167
13.1.3 Copying a Library and INI File and Restarting the CoDeSys
Runtime System................................................................................ 168
13.1.4 Creating an IEC Library ................................................................... 169
13.1.5 Linking a Library to the CoDeSys Project ....................................... 171
13.2 Special
Features .................................................................................... 174
13.2.1 Data
Types........................................................................................ 174
13.2.2 Structures.......................................................................................... 175
13.2.3 Parameter Transfer by Reference or by Value ................................. 176
13.3 Additional Applications ........................................................................ 176
14 Operating System..................................................................................... 177
14.1 Linux Kernel Used ................................................................................ 177
14.2 Grand Unified Bootloader (GRUB) ...................................................... 178
14.3 Linux Startup Process ........................................................................... 179
14.4 Linux Console ....................................................................................... 180
14.4.1 Access to the Linux Console............................................................ 180
14.4.1.1 Access over Telnet....................................................................... 182
14.4.1.2 Access via RS-232 Interface and Terminal Program .................. 183
14.4.1.3 Access over keyboard and monitor (DVI-I and USB Interface) . 184
14.4.2 Installed Applications....................................................................... 185
14.4.3 Construction of the File System ....................................................... 186
14.4.4 Installed Shell (BASH)..................................................................... 189
14.4.5 Busybox and Other Help Programs.................................................. 189
14.5 Drivers for Special Hardware Parts....................................................... 191
14.6 Incorporation
of a USB Printer ............................................................. 191
14.7 Installed Services of the ETHERNET Interface ................................... 192
14.7.1 Telnet Server (telnetd)...................................................................... 192
14.7.2 FTP Server (pure-ftpd) ..................................................................... 193
14.7.3 NFS Server ....................................................................................... 194
14.7.4 FTP Client ........................................................................................ 194
14.7.5 Web
Server (lighttp)......................................................................... 195
14.7.6 NTP
Client........................................................................................ 195
14.7.7 NFS Client........................................................................................ 196
14.7.8 SNMP Agent .................................................................................... 196
15 Diagnostics................................................................................................ 198
15.1 Operational Messages ........................................................................... 198
15.2 Error Messages via I/O-LED ................................................................ 203
15.2.1 Progression of Blink Sequence......................................................... 204
15.2.2 Example of an Error Message via Blink Code ................................. 205
15.2.3 Meaning of the Blink Codes and Procedures for Troubleshooting .. 206

WAGO-I/O-SYSTEM 750 Table of Contents 7
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Version 1.0.0
16 Service....................................................................................................... 211
16.1 Replacing the Battery............................................................................ 211
16.2 Disposal................................................................................................. 213
17 Use in Hazardous Environments............................................................ 214
17.1 Marking Configuration Examples......................................................... 215
17.1.1 Marking for Europe according to CENELEC and IEC.................... 215
17.1.2 Marking for America according to NEC 500................................... 218
17.2 Installation Regulations......................................................................... 219
17.2.1 Special conditions for safe use (ATEX Certificate TÜV 07 ATEX
554086 X)......................................................................................... 220
17.2.2 Special conditions for safe use (IEC-Ex Certificate
TUN 09.0001 X)............................................................................... 222
18 I/O Modules.............................................................................................. 224
18.1 Overview............................................................................................... 224
18.2 Process Data Architecture for MODBUS/TCP..................................... 225
18.2.1 Digital Input Modules....................................................................... 226
18.2.1.1 1 Channel Digital Input Module with Diagnostics...................... 226
18.2.1.2 2 Channel Digital Input Modules ................................................ 226
18.2.1.3 2 Channel Digital Input Module with Diagnostics...................... 226
18.2.1.4 2 Channel Digital Input Module with Diagnostics and Output
Process Data................................................................................. 227
18.2.1.5 4 Channel Digital Input Modules ................................................ 227
18.2.1.6 8 Channel Digital Input Modules ................................................ 227
18.2.1.7 16 Channel Digital Input Modules .............................................. 228
18.2.2 Digital Output Modules.................................................................... 229
18.2.2.1 1 Channel Digital Output Module with Input Process Data........ 229
18.2.2.2 2 Channel Digital Output Modules.............................................. 229
18.2.2.3 2 Channel Digital Input Modules with Diagnostics and Input
Process Data................................................................................. 230
18.2.2.4 4 Channel Digital Output Modules.............................................. 231
18.2.2.5 4 Channel Digital Output Modules with Diagnostics and Input
Process Data................................................................................. 231
18.2.2.6 8 Channel Digital Output Module ............................................... 231
18.2.2.7 8 Channel Digital Output Modules with Diagnostics and Input
Process Data................................................................................. 232
18.2.2.8 16 Channel Digital Output Modules............................................ 232
18.2.2.9 8 Channel Digital Input/Output Modules .................................... 233
18.2.3 Analog Input Modules...................................................................... 234
18.2.3.1 1 Channel Analog Input Modules................................................ 234
18.2.3.2 2 Channel Analog Input Modules................................................ 234
18.2.3.3 4 Channel Analog Input Modules................................................ 235
18.2.4 Analog Output Modules ................................................................... 236
18.2.4.1 2 Channel Analog Output Modules ............................................. 236
18.2.4.2 4 Channel Analog Output Modules ............................................. 236
18.2.5 Specialty Modules ............................................................................ 237
18.2.5.1 Counter Modules ......................................................................... 237
18.2.5.2 Pulse Width Modules................................................................... 239
18.2.5.3 Serial Interface Modules with alternative Data Format............... 239
18.2.5.4 Serial Interface Modules with Standard Data Format ................. 240

8 Table of Contents WAGO-I/O-SYSTEM 750
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Manual
Version 1.0.0
18.2.5.5 Data Exchange Module................................................................ 240
18.2.5.6 SSI Transmitter Interface Modules.............................................. 240
18.2.5.7 Incremental Encoder Interface Modules...................................... 241
18.2.5.8 DC-Drive Controller.................................................................... 243
18.2.5.9 Stepper Controller........................................................................ 244
18.2.5.10 RTC Module ................................................................................ 245
18.2.5.11 DALI/DSI Master Module........................................................... 245
18.2.5.12 EnOcean Radio Receiver............................................................. 246
18.2.5.13 MP Bus Master Module............................................................... 246
18.2.5.14 Bluetooth®RF-Transceiver.......................................................... 247
18.2.5.15 Vibration Velocity/Bearing Condition Monitoring VIB I/O....... 248
18.2.5.16 KNX/EIB/TP1 Module................................................................ 248
18.2.5.17 AS-interface Master Module ....................................................... 249
18.2.6 System Modules ............................................................................... 251
18.2.6.1 System Modules with Diagnostics............................................... 251
18.2.6.2 Binary Space Module .................................................................. 251
18.3 Mailbox Modules .................................................................................. 252
19 Appendix................................................................................................... 253
19.1 WAGOConfigToolLIB.lib.................................................................... 253
19.1.1 Calls for the "WAGOConfigToolLIB.lib" Library .......................... 255
19.2 WagoLibNetSnmp.lib ........................................................................... 275
19.2.1 snmpRegisterCustomOID_INT32() ................................................. 276
19.2.2 snmpRegisterCustomOID_STRING() ............................................. 277
19.2.3 snmpRegisterCustomOID_UINT32() .............................................. 278
19.2.4 snmpGetValueCustomOID_INT32() ............................................... 279
19.2.5 snmpGetValueCustomOID_STRING() ........................................... 280
19.2.6 snmpGetValueCustomOID_UINT32() ............................................ 281
19.2.7 snmpSetValueCustomOID_INT32()................................................ 282
19.2.8 snmpSetValueCustomOID_STRING() ............................................ 283
19.2.9 snmpSetValueCustomOID_UINT32()............................................. 284
19.2.10 Feedback........................................................................................... 285
19.2.11 Example Program "Test.pro"............................................................ 286
19.3 WAGO_DPM_01.lib ............................................................................ 289
19.3.1 DPM_VERSION .............................................................................. 290
19.3.2 DPM_REDUNDANCY ................................................................... 291
19.3.3 DPM_GLOBAL_CONTROL .......................................................... 293
19.3.4 DPM_READ_INPUT....................................................................... 295
19.3.5 W DPM_READ_OUTPUT .............................................................. 297
19.3.6 DPM_SET_SLAVE_ADDRESS ..................................................... 299
19.3.7 DPM_MSAC1_READ ..................................................................... 301
19.3.8 DPM_MSAC1_WRITE ................................................................... 303
19.3.9 DPM_MSAC1_ERROR................................................................... 305
19.3.10 FUNCTION_CODE......................................................................... 306
19.3.11 DPM_ERROR_CLASS.................................................................... 307
19.3.12 APP_CODE...................................................................................... 308
19.3.13 ACC_CODE..................................................................................... 309
19.3.14 RES_CODE...................................................................................... 310
19.3.15 DPM_CONTROL............................................................................. 311
19.3.16 MODE_INDICATION..................................................................... 312
19.4 mod_com.lib.......................................................................................... 313

WAGO-I/O-SYSTEM 750 Table of Contents 9
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19.5 SerComm.lib ......................................................................................... 313
19.6 WagoLibTerminalDiag.lib.................................................................... 313
19.7 SysLibCom.lib ...................................................................................... 313
19.8 SysLibFile, SysLibDir, SysLibFileAsync............................................. 314
List of Figures.................................................................................................... 315
List of Tables...................................................................................................... 318
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10 Notes about this Documentation WAGO-I/O-SYSTEM 750
758-874/000-131 WAGO-I/O-IPC-C6
Manual
Version 1.0.0
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1 Notes about this Documentation
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NOTICE
Read the operating instructions!
To avoid personal injury and property damage, only install and operating the I/O-
IPC according to these operating instructions and the system description for 750-
xxx. In addition, carefully follow the instructions in the "Safety" section.
NOTICE
Local regulations must be observed!
When integrating the 750 Series components in your machine or system, all
currently applicable norms, regulations and guidelines shall be observed during
all activities.
NOTICE
Power layout of the WAGO-I/O-SYSTEM 750!
In addition to these operating instructions, you will also need the system
description "Project Planning Notes", which can be downloaded at
www.wago.com. There, you can obtain important information including
information on electrical isolation, system power and supply specifications.
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Keep this documentation!
The operating instructions are part of the product and shall be kept for the entire
lifetime of the device. They shall be transferred to each subsequent owner or user
of the device. Care must also be taken to ensure that any supplement to these
instructions are included, if applicable.
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1.1 Validity of these Operating Instructions
These operating instructions are only valid for WAGO-I/O-IPC-C6 of the
WAGO-I/O-SYSTEM 750 with item number 758-874/000-131.
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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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