application note - wagoglobal.wago.com/appnoteadmin/appnotes/a116900/public/a116900_en... ·...

Using WAGO Series 750

EtherCAT FC with TwinCAT 2.x

Application Note

A116900, English Version 1.0.0

2 • General

Application note A116900e

Copyright 2010 by WAGO Kontakttechnik GmbH & Co. KG

All rights reserved.

WAGO Kontakttechnik GmbH & Co. KG Hansastraße 27 D-32423 Minden

Phone: +49 (0) 571/8 87 – 0 Fax: +49 (0) 571/8 87 – 1 69

E-Mail: [email protected]

Web: http://www.wago.com

Technical Support Phone: +49 (0) 571/8 87 – 5 55 Fax: +49 (0) 571/8 87 – 85 55

E-Mail: [email protected]

Every conceivable measure has been taken to ensure the correctness and completeness of this documentation. However, as errors can never be fully excluded we would appreciate any information or ideas at any time.

We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally trademark or patent protected.

EtherCAT and TwinCAT are registered trademarks and patented tech-nologies, licensed by Beckhoff Automation GmbH, Germany.

http://www.wago.com

mailto:[email protected]


Table of Contents • 3

Application Note A116900e

TABLE OF CONTENTS

1 Important comments .............................................................................. 4 1.1 Legal principles................................................................................... 4 1.1.1 Copyright ........................................................................................... 4 1.1.2 Personnel qualification ........................................................................ 4 1.1.3 Intended use ....................................................................................... 4 1.2 Range of validity................................................................................. 5 1.3 Symbols.............................................................................................. 5

2 Description.............................................................................................. 6

3 Reference Material ................................................................................. 6

4 Solution................................................................................................... 7 4.1 Online bus configuration ..................................................................... 7 4.2 Offline bus configuration..................................................................... 9 4.3 Edit application program................................................................... 13 4.4 Mapping data points ......................................................................... 14 4.5 Start PLC ......................................................................................... 15 4.6 TwinCAT additions .......................................................................... 15

4 • Important comments


1 Important comments

To ensure quick installation and start-up of the units described in this man-ual, it is strongly recommend that information and explanation contained in this document is carefully read and adhered to.

1.1 Legal principles

1.1.1 Copyright

This manual is copyrighted, together with all figures and illustrations con-tained therein. Any use of this manual which infringes the copyright provi-sions stipulated herein, is not permitted. Reproduction, translation and elec-tronic and photo-technical archiving and amendments require the written consent of WAGO Kontakttechnik GmbH & Co. KG. Non-observance will entail the right of claims for damages.

1.1.2 Personnel qualification

The use of the product detailed in this manual is exclusively geared to spe-cialists having qualifications in PLC programming, electrical specialists or persons instructed by electrical specialists, who are also familiar with appli-cable standards. WAGO Kontakttechnik GmbH & Co. KG declines all li-ability resulting from improper action and damage to WAGO products and third party products due to non-observance of the information contained in this manual.

1.1.3 Intended use

For each individual application, the components supplied are to work with a dedicated hardware and software configuration. Modifications are only admitted within the framework of the possibilities documented in the manuals. All other changes to the hardware and/or software and the non-conforming use of the components entail the exclusion of liability on part of WAGO Kontakttechnik GmbH & Co. KG.

Please direct any requirements pertaining to a modified and/or new hard-ware or software configuration directly to WAGO Kontakttechnik GmbH & Co. KG.

Important comments • 5


1.2 Range of validity

This application note is based on the stated hardware and software of the specific manufacturer as well as the correspondent documentation. This ap-plication note is therefore only valid for the described installation.

New hardware and software versions may need to be handled differently. Please note the detailed description in the specific manuals.

1.3 Symbols

Danger Always observe this information to protect persons from injury.

Warning Always observe this information to prevent damage to the device.

Attention Marginal conditions must always be observed to ensure smooth operation.

ESD (Electrostatic Discharge) Warning of damage to the components by electrostatic discharge. Observe the precautionary measure for handling components at risk.

Note Routines or advice for efficient use of the device and software optimization.

More information References to additional literature, manuals, data sheets and internet pages.

6 • Description


2 Description

This document illustrates the various steps taken to configure a TwinCAT 2.x PLC with a node of WAGO Series 750-354. This document should serve as a supplement to the appropriate WAGO EtherCAT product man-ual when installing and/or commissioning a node of WAGO Series 750-354.

3 Reference Material

This procedure has been tested with, but is not limited to, the following hardware and software: • TwinCAT 2.x • WAGO Series 750 EtherCAT fieldbus coupler 750-354 750-430 750-530 750-467 750-550 There are four major steps to configure a connection: 1) Configure Bus (online or offline) 2) Edit application program 3) Map data points 4) Start PLC

Solution • 7


4 Solution

4.1 Online bus configuration

Start the software in configuration mode.

Start scanning the bus by:

- Mark the E/A configuration icon in the project tree

- Press the scan icon

Depending on the hardware running the TwinCAT PLC, more than one Ethernet card may be detected. Since only one EtherCAT bus line is used, other LAN devices may be deactivated.

8 • Solution


The result of the network scan is shown below. Box 1 is the Wago coupler 750-354.

The current process image size is 10 Byte for input and output.

Solution • 9


4.2 Offline bus configuration

Open a new project and add an EtherCAT device.

Please select the appropriate network interface.

10 • Solution


Add a box to the EtherCAT device.

Select the Wago 750-354 coupler.

Solution • 11


Add a module.

Select the modules according to the node configuration.

12 • Solution


Check for absolute addresses and make sure they are assigned within the plc program.

Solution • 13


4.3 Edit application program

First a plc program needs to be entered.

To have access to the physical I/O data of the coupler, a variable needs to be declared for each data point. Variables must to be assigned to fixed addresses by the AT %I* or AT %Q* op-erator.

According to the node addresses in this example, the assignment is:

14 • Solution


4.4 Mapping data points

The mapping in done by a double click on the input and output data of the plc program open a window with all available data points. The data points are identical to the information which has been detected by the scan of the network.

Solution • 15


4.5 Start PLC

Change to the PLC control window and build the application. Then start the plc control.

Activate the new configuration.

Once these settings have been changed the plc needs to be started again.

4.6 TwinCAT additions

The WAGO xml-File needs to be copied to the folder \TwinCAT\IO\EtherCAT

Using a PC with e.g. an INTEL Pro100 network card, requires to either disable TCP/IP pro-tocol or to set an appropriate IP address.

Please make sure the Ethernet Port is configured appropriate. The menu Option ->list Real-time Ethernet Supported devices gives detailed information:

16 • Solution


WAGO Kontakttechnik GmbH & Co. KG Postfach 2880 • D-32385 Minden Hansastraße 27 • D-32423 Minden Phone: 05 71/8 87 – 0 Telefax: 05 71/8 87 – 1 69 E-Mail: [email protected] Internet: http://www.wago.com

http://www.wago.com


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