WAGO I/O SYSTEM 750 750-671 User manual

Fieldbus Independent
I/O Modules
Steppercontroller
750-671
Manual
Version 1.0.2

ii • General
WAGO-I/O-SYSTEM 750
I/O Modules
Copyright 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 correctness and com-
pleteness of this documentation. However, as errors can never be fully ex-
cluded, we would appreciate any information or ideas at any time.
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 trademark or patent protected.

Important Notes •3
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
CONTENT
1Important Notes ..........................................................................................8
1.1 Legal Bases............................................................................................... 8
1.1.1 Copyright ............................................................................................. 8
1.1.2 Personnel Qualifications...................................................................... 8
1.1.3 Use of the 750 Series in Compliance with Underlying Provisions ..... 9
1.1.4 Technical Condition of Specified Devices .......................................... 9
1.2 Standards and Guidelines for Operating the 750 Series......................... 10
1.3 Symbols .................................................................................................. 11
1.4 Safety Information.................................................................................. 12
1.5 Font Conventions ................................................................................... 13
1.6 Number Notation .................................................................................... 13
1.7 Scope ...................................................................................................... 13
2I/O Modules...............................................................................................14
2.1 Special Modules ..................................................................................... 14
2.1.1 General Description ........................................................................... 14
2.1.1.1 Safety Information ........................................................................ 14
2.1.1.2 Structure of Positioning Controller............................................... 15
2.1.1.2.1 Control Section......................................................................... 15
2.1.1.2.2 Power Section........................................................................... 16
2.1.1.2.3 Drive......................................................................................... 16
2.1.1.2.4 Mechanical Section .................................................................. 17
2.1.1.3 Positioning .................................................................................... 18
2.1.1.3.1 Absolute Positioning ................................................................ 18
2.1.1.3.2 Relative Positioning ................................................................. 19
2.1.1.3.3 On-the-Fly Positioning............................................................. 20
2.1.1.3.4 Referencing .............................................................................. 21
2.1.1.3.5 Jogging Mode........................................................................... 21
2.1.1.3.6 Rotary Axis .............................................................................. 22
2.1.1.3.7 Types of Acceleration .............................................................. 23
2.1.1.3.7.1 Constant Acceleration ......................................................... 23
2.1.1.3.7.2 Linear Acceleration ............................................................. 24
2.1.1.3.7.3 sin²*t Acceleration............................................................... 25
2.1.1.3.7.4 Adjustable Acceleration ...................................................... 26
2.1.1.4 Current Control ............................................................................. 28
2.1.1.5 Rotational speed............................................................................ 29
2.1.1.6 Camshaft controller....................................................................... 30
2.1.1.7 Frequency modulation .................................................................. 31
2.1.1.8 PWM ............................................................................................. 32
2.1.1.9 Single Shot .................................................................................... 33
2.1.1.10 Brake Control................................................................................ 34
2.1.1.11 Command tables............................................................................ 35
2.1.2 750-671 [Steppercontroller] .............................................................. 37
2.1.2.1 View.............................................................................................. 37
2.1.2.2 Description.................................................................................... 37
2.1.2.3 Indicators....................................................................................... 43

4 •Important Notes
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.2.4 Operating Elements....................................................................... 45
2.1.2.5 Schematic Diagram ....................................................................... 45
2.1.2.6 Technical Data .............................................................................. 46
2.1.2.7 Process Image ............................................................................... 48
2.1.2.7.1 Overview ..................................................................................48
2.1.2.7.2 Control Byte 0, Status Byte 0...................................................49
2.1.2.7.3 Cyclic Process Image ...............................................................50
2.1.2.7.4 Mailbox Process Image ............................................................ 51
2.1.2.8 Mailbox Mode............................................................................... 53
2.1.2.9 Table Manager .............................................................................. 53
2.1.2.9.1 Download ................................................................................. 55
2.1.2.9.2 Control...................................................................................... 55
2.1.2.10 Configuration ................................................................................ 55
2.1.2.10.1 Configuration Table ................................................................. 56
2.1.2.10.1.1 Configuration of Basic Parameters...................................... 57
2.1.2.10.2 Configuration using Control Byte C2 ...................................... 61
2.1.2.10.2.1 Frequency Prescaler............................................................. 61
2.1.2.10.2.2 Acceleration Factor ............................................................. 62
2.1.2.10.3 Configuration via Mailbox Mode.............................................63
2.1.2.10.4 Digital Signals and Signal Linking .......................................... 63
2.1.2.10.5 Linking of Bits .........................................................................64
2.1.2.10.5.1 Special Bits: ZERO, ONE, MZERO and MONE................ 67
2.1.2.10.5.2 Filters, Low Pass, Timers and Counters.............................. 68
2.1.2.10.6 Move Commands ..................................................................... 73
2.1.2.10.7 Scaling, Number Ranges and Units..........................................74
2.1.2.10.7.1 Internal Units of Measure.................................................... 74
2.1.2.10.7.2 External Units of Measure................................................... 77
2.1.2.11 Positioning ....................................................................................78
2.1.2.11.1 Operation via Cyclic Process Image ........................................ 78
2.1.2.11.1.1 Selecting a Mode ................................................................. 79
2.1.2.11.1.2 Ending a Mode ....................................................................79
2.1.2.11.1.3 Sequence Diagram for Selection and Ending of Modes...... 80
2.1.2.11.1.4 Positioning Mode................................................................. 81
2.1.2.11.1.5 Referencing Mode ............................................................... 90
2.1.2.11.1.6 Jog and Stepping Mode ....................................................... 96
2.1.2.11.1.7 Move program mode ...........................................................99
2.1.2.11.2 Move Mode via Mailbox........................................................104
2.1.2.11.2.1 Move Commands............................................................... 104
2.1.2.11.3 Limiting of Moving Range.....................................................104
2.1.2.11.3.1 Hardware Limit Switch ..................................................... 104
2.1.2.11.3.2 Software Limit Switch....................................................... 105
2.1.2.12 Expanded Positioning Functions................................................. 107
2.1.2.12.1 Rotary Axis ............................................................................ 107
2.1.2.12.1.1 Relative Positioning........................................................... 107
2.1.2.12.1.2 Absolute Positioning ......................................................... 108
2.1.2.12.2 Camshaft................................................................................. 108
2.1.2.12.3 Position Table.........................................................................109
2.1.2.12.3.1 Teaching of Positions ........................................................ 109
2.1.2.12.4 Control of a Motor Brake.......................................................110

Important Notes •5
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.2.13 Other Applications ...................................................................... 111
2.1.2.13.1 Speed Control......................................................................... 111
2.1.2.13.1.1 Velocity Control Process Image........................................112
2.1.2.14 Advanced Diagnostics ................................................................ 117
2.1.2.14.1 Internal Status Variables ........................................................ 117
2.1.2.14.2 Data Recorder......................................................................... 117
2.1.2.15 Connection Example ................................................................... 119
3Appendix..................................................................................................120
3.1 Mailbox Commands ............................................................................. 120
3.1.1 Overview of Mailbox Commands ...................................................120
3.1.2 Overview of Mailbox Commands, Sorted by Opcodes................... 122
3.1.3 Overview of Mailbox Commands, Sorted by Functions ................. 123
3.1.4 Reference Commands – Mailbox Commands ................................. 124
3.1.4.1 General commands...................................................................... 124
3.1.4.1.1 IDLE (0x00) ........................................................................... 124
3.1.4.2 Move Commands ........................................................................ 125
3.1.4.2.1 DRIVE_COMMAND (0x40)................................................. 125
3.1.4.3 Download Commands................................................................. 126
3.1.4.3.1 DLD_START (0x41) ............................................................. 126
3.1.4.3.2 DLD_CONT (0x42) ............................................................... 129
3.1.4.3.3 DLD_END (0x43).................................................................. 132
3.1.4.4 Table Management Commands .................................................. 133
3.1.4.4.1 TABLE_ERASE (0x44)......................................................... 133
3.1.4.4.2 TABLE_COPY (0x45)........................................................... 135
3.1.4.4.3 TABLE_START (0x46)......................................................... 138
3.1.4.4.4 TABLE_STOP (0x48)............................................................ 139
3.1.4.4.5 TABLE_GET_ACTIVE (0x4F)............................................. 140
3.1.4.5 Diagnostics Commands .............................................................. 141
3.1.4.5.1 DIAG_RD_ERROR (0x49) ................................................... 141
3.1.4.5.2 DIAG_QUIT_ERROR (0x4A) .............................................. 142
3.1.4.5.3 DIAG_RD_VAR (0x4C)........................................................ 143
3.1.4.5.4 DIAG_RD_BIT (0x4D) ......................................................... 144
3.1.4.5.5 DIAG_QUERY_STORAGE (0x4E)...................................... 145
3.1.4.6 Configuration Table Commands................................................. 146
3.1.4.6.1 CONFIG_SET_PTR (0x50) ................................................... 146
3.1.4.6.2 CONFIG_WR (0x51) ............................................................. 147
3.1.4.6.3 CONFIG_RD (0x52).............................................................. 148
3.1.4.6.4 CONFIG_SAVE (0x53) ......................................................... 149
3.1.4.6.5 CONFIG_RESTORE (0x54).................................................. 150
3.1.4.7 Position table commands ............................................................ 152
3.1.4.7.1 POS_TABLE_CREATE (0x5C)............................................ 152
3.1.4.7.2 POS_TABLE_SET_PTR (0x5D)........................................... 153
3.1.4.7.3 POS_TABLE_WR (0x5E) ..................................................... 154
3.1.4.7.4 POS_TABLE_TEACH (0x5F) .............................................. 155
3.2 Commands for Move Mode..................................................................157
3.2.1 Overview of Commands for Move Mode........................................ 157
3.2.2 Overview of Move Mode Commands, Sorted by Opcodes............. 160
3.2.3 Overview of Move Mode Commands, Sorted by Function............. 162

6 •Important Notes
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
3.2.4 Reference Commands for Move Mode............................................ 164
3.2.4.1 Setpoint commands..................................................................... 164
3.2.4.1.1 MOVE (0x02) ........................................................................ 164
3.2.4.1.2 MOVE_IMMEDIATE (0x03)................................................ 165
3.2.4.1.3 MOVE_TABLE (0x04).......................................................... 166
3.2.4.1.4 MOVE_TABLE_IMMEDIATE (0x05)................................. 167
3.2.4.1.5 MOVE_REL (0x06) ............................................................... 168
3.2.4.1.6 MOVE_TABLE_REL (0x08) ................................................ 169
3.2.4.1.7 SPEED (0x10) ........................................................................ 170
3.2.4.1.8 SPEED_IMMEDIATE (0x11) ............................................... 171
3.2.4.1.9 STOP_FAST (0x18)............................................................... 172
3.2.4.1.10 STOP_NO_RAMP (0x19) ..................................................... 173
3.2.4.1.11 START_REFERENCING (0x20) .......................................... 174
3.2.4.1.12 SET_ACC_MODE (0x21) ..................................................... 175
3.2.4.1.13 SET_ACC (0x22) ................................................................... 177
3.2.4.1.14 SET_ACC_PARAM_UP (0x23)............................................ 178
3.2.4.1.15 SET_ACC_PARAM_DOWN (0x24) .................................... 179
3.2.4.1.16 SET_VELOCITY (0x25) ....................................................... 180
3.2.4.1.17 SET_VELOCITY_TARGET (0x2B)..................................... 181
3.2.4.1.18 SET_ACTUALPOSITON (0x2E).......................................... 182
3.2.4.1.19 SET_ACTUALPOSITION_ZERO (0x2F) ............................ 183
3.2.4.1.20 SET_CURRENT (0x39) ........................................................ 184
3.2.4.2 Math commands.......................................................................... 185
3.2.4.2.1 VAR_SET (0x50)................................................................... 185
3.2.4.2.2 VAR_INC (0x51) ................................................................... 186
3.2.4.2.3 VAR_DEC (0x52).................................................................. 187
3.2.4.2.4 VAR_ADD (0x53) ................................................................. 188
3.2.4.2.5 VAR_SUB (0x54) .................................................................. 189
3.2.4.2.6 VAR_MUL (0x55) ................................................................. 190
3.2.4.2.7 VAR_COPY (0x56) ............................................................... 191
3.2.4.2.8 VAR_DIV (0x57)................................................................... 192
3.2.4.3 Wait Commands.......................................................................... 193
3.2.4.3.1 WAIT_TIME (0x70) .............................................................. 193
3.2.4.3.2 WAIT_TEST_BIT (0x71)...................................................... 194
3.2.4.4 Auxiliary Commands .................................................................. 195
3.2.4.4.1 WR_BIT (0x78) ..................................................................... 195
3.2.4.4.2 NOP (0xF0) ............................................................................ 196
3.2.4.4.3 PROG_STOP (0xF1).............................................................. 197
3.2.4.4.4 PROG_END (0x00 oder 0xFF).............................................. 198
3.2.4.4.5 GOTO (0xF5) ......................................................................... 199
3.2.4.4.6 GOTO_IF (0xF6) ................................................................... 200
3.2.4.4.7 GOTO_IF_NOT (0xF7) ......................................................... 201
3.2.4.4.8 GOTO_LABEL (0xF8) .......................................................... 202
3.2.4.4.9 GOTO_LABEL_IF (0xF9) .................................................... 203
3.2.4.4.10 GOTO_LABEL_IF_NOT (0xFA) ......................................... 204
3.2.4.4.11 LABEL (0xFB) ...................................................................... 205
3.3 Error Blink Codes................................................................................. 206
3.3.1 Overview of Error Blink Codes.......................................................207
3.4 Bit field for I/O driver .......................................................................... 218

Important Notes •7
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
3.5 Configuration Variables ....................................................................... 239
3.6 Internal Status Variables ......................................................................252

8 •CONTENT
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
1 Important Notes
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.
1.1 Legal Bases
1.1.1 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.
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.
1.1.2 Personnel Qualifications
The use of the product described in this Manual requires special personnel
qualifications, as shown in the following table:
Activity Electrical specialist Instructed
personnel*)
Specialists**) having
qualifications in PLC
programming
Assembly X X
Commissioning X X
Programming X
Maintenance X X
Troubleshooting X
Disassembly X X
*) Instructed persons have been trained by qualified personnel or electrical specialists.
**) A specialist is a person, who – thanks to technical training – has the qualification, know-
ledge and expertise to meet the required specifications of this work and to identify any po-
tential hazardous situation in the above listed fields of activity.

Important Notes •9
Legal Bases
WAGO-I/O-SYSTEM 750
I/O Modules
All responsible persons have to familiarize themselves with the underlying
legal standards to be applied. WAGO Kontakttechnik GmbH & Co. KG does
not assume any liability whatsoever resulting from improper handling and
damage incurred to both WAGO´s own and third-party products by
disregarding detailed information in this Manual.
1.1.3 Use of the 750 Series in Compliance with Underlying
Provisions
Couplers, controllers and I/O modules found in the modular WAGO-I/O-
SYSTEM 750 receive digital and analog signals from sensors and transmit
them to the actuators or higher-level control systems. Using programmable
controllers, the signals can also be (pre-)processed.
The components have been developed for use in an environment that meets
the IP20 protection class criteria. Protection against finger injury and solid
impurities up to 12.5 mm diameter is assured; protection against water damage
is not ensured. Unless otherwise specified, operation of the components in wet
and dusty environments is prohibited.
1.1.4 Technical Condition of Specified Devices
The components to be supplied Ex Works, are equipped with hardware and
software configurations, which meet the individual application requirements.
Changes in hardware, software and firmware are permitted exclusively within
the framework of the various alternatives that are documented in the specific
manuals. 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 components.
Please send your request for modified and new hardware or software
configurations directly to WAGO Kontakttechnik GmbH & Co. KG.

10 •CONTENT
Standards and Guidelines for Operating the 750 Series
WAGO-I/O-SYSTEM 750
I/O Modules
1.2 Standards and Guidelines for Operating the 750 Series
Please adhere to the standards and guidelines required for the use of your
system:
The data and power lines shall be connected and installed in compliance
with the standards required to avoid failures on your system and to
substantially minimize any imminently hazardous situations resulting in
personal injury.
For assembly, start-up, maintenance and troubleshooting, adhere to the
specific accident prevention provisions which apply to your system (e.g.
BGV A 3, "Electrical Installations and Equipment").
Emergency stop functions and equipment shall not be made ineffective.
See relevant standards (e.g. DIN EN 418).
The equipment of your system shall be conform to EMC guidelines so that
any electromagnetic interferences will be eliminated.
Operating 750 Series components in home applications without further
measures is permitted only if they meet the emission limits (emissions of
interference) in compliance with EN 61000-6-3. You will find the detailed
information in section "WAGO-I/O-SYSTEM 750" "System
Description" "Technical Data".
Please observe the safety precautions against electrostatic discharge in
accordance with DIN EN 61340-5-1/-3. When handling the modules,
please ensure that environmental factors (persons, working place and
packaging) are well grounded.
The valid standards and guidelines applicable for the installation of switch
cabinets shall be adhered to.

Important Notes •11
Symbols
WAGO-I/O-SYSTEM 750
I/O Modules
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 that must always be observed to ensure smooth and
efficient operation.
ESD (Electrostatic Discharge)
Warning of damage to the components through electrostatic discharge.
Observe the precautionary measure for handling components at risk of
electrostatic discharge.
Note
Make important notes that are to be complied with so that a trouble-free and
efficient device operation can be guaranteed.
Additional Information
References to additional literature, manuals, data sheets and internet pages.

12 •CONTENT
Safety Information
WAGO-I/O-SYSTEM 750
I/O Modules
1.4 Safety Information
When connecting the device to your installation and during operation, the
following safety notes must be observed:
Danger
The WAGO-I/O-SYSTEM 750 and its components are an open system. It
must only be assembled in housings, cabinets or in electrical operation rooms.
Access is only permitted via a key or tool to authorized qualified personnel.
Danger
All power sources to the device must always be switched off before carrying
out any installation, repair or maintenance work.
Warning
Replace defective or damaged device/module (e.g. in the event of deformed
contacts), as the functionality of field bus station in question can no longer be
ensured on a long-term basis.
Warning
The components are not resistant against materials having seeping and
insulating properties. Belonging to this group of materials is: e.g. aerosols,
silicones, triglycerides (found in some hand creams). If it cannot be ruled out
that these materials appear in the component environment, then the
components must be installed in an enclosure that is resistant against the
above mentioned materials. Clean tools and materials are generally required
to operate the device/module.
Warning
Soiled contacts must be cleaned using oil-free compressed air or with ethyl
alcohol and leather cloths.
Warning
Do not use contact sprays, which could possibly impair the functioning of the
contact area.
Warning
Avoid reverse polarity of data and power lines, as this may damage the
devices.
ESD (Electrostatic Discharge)
The devices are equipped with electronic components that may be destroyed
by electrostatic discharge when touched.

Important Notes •13
Font Conventions
WAGO-I/O-SYSTEM 750
I/O Modules
Warning
For components with ETHERNET/RJ-45 connectors:
Only for use in LAN, not for connection to telecommunication circuits.
1.5 Font Conventions
italic Names of paths and data files are marked in italic-type.
e.g.: C:\Programs\WAGO-IO-CHECK
italic Menu items are marked in italic-type, bold letters.
e.g.: Save
\ A backslash between two names characterizes the selection of a
menu point from a menu.
e.g.: File \ New
END Pushbuttons are marked as bold with small capitals
e.g.: ENTER
< > Keys are marked bold within angle brackets
e.g.: <F5>
Courier The print font for program codes is Courier.
e.g.: END_VAR
1.6 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 (.)
1.7 Scope
This manual describes the Special Module 750-671 Steppercontroller of the
modular WAGO-I/O-SYSTEM 750.
Handling, assembly and start-up are described in the manual of the Fieldbus
Coupler. Therefore this documentation is valid only in the connection with the
appropriate manual.

14 • General Description
Safety Information
WAGO-I/O-SYSTEM 750
I/O Modules
2 I/O Modules
2.1 Special Modules
2.1.1 General Description
2.1.1.1 Safety Information
Observe the following information and safety notices to prevent injury and/or
equipment.
Danger
Take appropriate measures, such as cordoning off appropriate areas with
screens/enclosures, to prevent bodily contact with the system’s moving parts.
Danger
Enact and install an EMERGENCY OFF procedure and system that adheres to
locally valid regulations and applicable engineering practices.
Notice
Install appropriate hardware limit switches that can directly disengage power
to the system if a restricted area of movement has been breached.
Notice
Install appropriate equipment to protect motors and power electronics, such as
motor circuit breakers or fuses.

General Description •15
Structure of Positioning Controller
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.1.2 Structure of Positioning Controller
The following figure illustrates the structure of a typical positioning
controller, along with its basic elements:
Control section,
Power section,
Drive section,
Mechanical section.
SPS
M
Mechanical
section
Drive Software
limit switch
Control
Stepper module
750-67x
Coupler/Controller
750-xxx
Power section Net
Safety
device
Emergency Off
Power level
Hardware
limit switch
Net
Fig. 2.1.1-1: Structure of position control system g067x00e
2.1.1.2.1 Control Section
The control section consists of a PLC for process control and stepper module
750-67x for positioning, FM and PWM functions.

16 • General Description
Structure of Positioning Controller
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.1.2.2 Power Section
The power stage generates drive currents from the pulses for the specific
motor. Any type of output stage equipped with a pulse direction or
incremental encoder interface can be used with the 750-670 stepper module
This also allows output stages for 3- or 5-pole stepper motors, DC or AC
servo motors to be used. Stepper modules 750-671, -672 and -673 are
equipped with an integrated output stage for regulating 2-phase stepper
motors.
2.1.1.2.3 Drive
Stepper motors are simple and economical drives that execute highly precise
tasks for a wide range of applications.
The shaft of a stepper motor rotates by a defined angle at each pulse; a rapid
succession of pulses transforms the stepping motion into a continuous turning
motion. The stepper motor’s natural resonance is suppressed largely by high-
revolution microstepping, which produces extremely smooth operation. This is
characteristic of WAGO modules 750-671, -672 and –673, which feature 64-
fold microstepping.
The figures below illustrate possible types of connections for stepper motors:
4-wire--engine bipolar 6-wire-motor bipolar
in series operated
8-wire--motor bipolar
in series operated 8-wire-motor bipolar
paralleloperated
Fig. 2.1.1-2: Types of connections for stepper motors g067x02e

General Description •17
Structure of Positioning Controller
WAGO-I/O-SYSTEM 750
I/O Modules
The following must be considered when selecting an appropriate motor:
type of connection and number of phases
required torque progression over speed
required motor current
winding resistance
motor inductance.
The application dictates the torque progression and speed; experience has
shown that a torque margin of approx. 25 %, depending on the mechanical
system properties, is useful. This should be considered when accounting for
any dynamic effects (resonance in mechanical systems).
The positioning process sequences also determine both the average and peak
power supplied to the motor; special attention must be given to the total power
loss and motor temperature.
Depending on the motor model and design, a corresponding current must be
present in order to be transferred from the output stage into the motor. The
required voltage depends on the winding resistance, motor inductance and
speed (anti-EMC). It may be necessary to have considerably higher voltage
levels for the specific current level, particularly at high speeds, than that
specified by the motor data. The manufacturer-provided motor data is based
on motor standstill (ohmic winding resistance). The power output stages for
stepper modules 750-671, -672 and –673 are equipped with power control
systems. For example, it is possible to run 12 V motors with 24 V supply
systems as long as the current, power loss and motor temperature remain
within acceptable limits. Consult the motor manufacturer with any
questions/concerns.
2.1.1.2.4 Mechanical Section
Motor data can be calculated based on the requirements for the load to be
moved, and any additional bearings, transmissions, deflection systems,
damping elements, etc. that may be required. Important parameters here are:
moment of inertia
starting torque
holding torque
torque at the maximum required speed,
cycle times for positioning
requisite acceleration
required torque (where applicable) when passing through mechanical
resonance fields - particularly when mechanical components such as long
drive belts, spring elements or vibration buffers (couplings) are used.
Please note that there must be no step losses if the required mechanical torque
does not exceed the torque supplied by the motor (taking inertia into account).

18 • General Description
Positioning
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.1.3 Positioning
A distinction is made here between absolute and relative positioning.
Additionally, a difference is also made between a reference run and the Jog
mode.
2.1.1.3.1 Absolute Positioning
Positioning from the absolute position X to absolute position Y.
0
X
Y
Path
Velocity
Time
Fig. 2.1.1-3: Absolute positioning g067x03e
Potential applications:
Positioning shafts
Transfer carriages
Pick & Place

General Description •19
Positioning
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.1.3.2 Relative Positioning
Positioning from absolute position X to absolute position Y by the difference
x; it is also possible as a command during positioning (on the fly).
0
xxxx
X
Y1
Y2
Y3
Y4
0
xxxx
X
Y1
Y2
Y3
Y4
Path
Velocity
New command
New command
Time
Fig. 2.1.1-4: Relative positioning g067x02e
Potential applications:
Incremental dimensions
Variable reference points

20 • General Description
Positioning
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.1.3.3 On-the-Fly Positioning
Termination of ongoing positioning (such as Move to Y) and execution of the
new positioning command (Move to Y-n).
Y
Y-n
Pathinsteps
Pathover time
Velocityover time
Time ins
Valocityinsteps/s
Time ins
Abort ofthecurrent
command and positioning
to new value
Fig. 2.1.1-5: On-the-fly positioning g067x05e
Potential applications:
Event-dependent changing of target position
Collision avoidance
Process optimization