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.