WAGO -I/O-SYSTEM 750 Manual
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WAGO -I/O-SYSTEM 750 Manual

Fieldbus independent i/o modules; dc drive controller
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Fieldbus Independent
I/O Modules
DC Drive Controller
750-636
Manual
Version 1.0.1

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Summary of Contents for WAGO WAGO-I/O-SYSTEM 750

  • Page 1 Fieldbus Independent I/O Modules DC Drive Controller 750-636 Manual Version 1.0.1...
  • Page 2 • General Copyright  2007 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: info@wago.com...

  • Page 3: Table Of Contents

    2.1.1.9.8.3 Positioning with Enabled Optimization and too Short Distance ................30 2.1.1.9.8.4 Positioning with negatively initialized overtravel....31 2.1.1.9.8.5 Positioning with positively initialized overtravel....32 2.1.1.9.8.6 Positioning with negatively initialized overtravel at too little distance ................33 WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 4 Actual (1) ................ 60 2.1.1.10.6.3.2 User Settings (2) ............. 61 2.1.1.10.6.3.3 Factory Default (3) ............61 2.1.1.10.6.4 Transfer of the Parameter Data Sets ........61 2.1.1.10.6.4.1 Request/Response Mechanism ........61 2.1.1.10.6.4.2 Session Counter .............. 61 2.1.1.10.6.4.3 Command Overview ............62 WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 5: Important Comments

    WAGO Kontakttechnik GmbH & Co. KG declines all liability resulting from improper action and damage to WAGO products and third party products due to non-observance of the information contained in this manual.

  • Page 6: Symbols

    Routines or advice for efficient use of the device and software optimization. Additional Information References on additional literature, manuals, data sheets and internet pages. 1.3 Number Notation Number Code Example Note Decimal normal notation Hexadecimal 0x64 C notation Binary '100' within inverted commas, '0110.0100' nibble separated with dots WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 7: Safety Notes

    Do not use any contact spray. The spray may impair the functioning of the contact area. 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 must only be given via a key or tool to authorized qualified personnel.

  • Page 8: O Modules

    The limit switches automatically disable the motor output. A green LED indicates the switching status for the digital inputs and the power supply status. Two yellow LEDs and a red LED indicate the operating mode and errors. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 9: Connectors

    10 A. When configuring the system, the total current should not be exceeded. If this occurs, an additional supply module must be used. The DC Drive Controller can be operated with all of the couplers and controllers in the WAGO-I/O-SYSTEM 750 Series. 2.1.1.3 Connectors...

  • Page 10: Indicators

    No error Error Internal error or H-bridge diagnostic signal 2.1.1.5 Operating Elements The 750-636 DC Drive Controller has no operating elements. The configuration and the parameters can be changed via higher-level control or the WAGO-I/O-CHECK configuration tool. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 11: Schematic Diagram

    • 11 Schematic Diagram 2.1.1.6 Schematic Diagram IEC 61131 Type 1 +5 V Logic 24 V +24 V 24 V Transient protection +5 V 24 V monitoring 5 V generation +24 V 750-636 Fig. 2.1.1-4: Schematic Diagram g063601e WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 12: Technical Data

    IEC 61131 Type 1 Input voltage DC -3 V … 30 V Signal voltage (0) DC -3 V … +5 V Signal voltage (1) DC 15 V … 30 V Input current typ. 2.7 mA at 24 V WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 13 140 µs. 40 A 20 A 0 µs 20 µs 40 µs 60 µs 80 µs 100 µs 120 µs 140 µs 160 µs Fig. 2.1.1-6: Short circuit diagram g063607x PWM frequency typ. 20 kHz WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 14 (UL508) Conformity marking More Information Detailed references to the approvals are listed in the document "Overview Approvals WAGO-I/O-SYSTEM 750", which you can find on the CD ROM ELECTRONICC Tools and Docs (Item-No.: 0888-0412) or in the internet under: www.wago.com Documentation...

  • Page 15: Process Image

    S2 … S5 D0 … D3 Bit 3 of control byte C1 (C1.3) switches between the process data and the extended status bytes in the input process image. Bit 3 of status byte S1 (S1.3) acknowledges the switching process. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 16: Standard Process Image

    Offset Input Data Output Data Status byte S0 Control byte C0 Status byte S1 Control byte C1 Actual position Setpoint position (LSB) (LSB) Actual position Setpoint position Actual position Setpoint position Actual position Setpoint position (MSB) (MSB) WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 17: Control Bytes And Status Bytes

    Please find more detailed information on this subject in section "PWM control during positioning process." Drive is not moved using CurrentControl_PWM. Drive is moved using CurrentControl_PWM. Reg_Com Register communication (see section 2.1.1.10.4). Process data communication enabled. Register communication enabled. Reserved WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 18 Extended status information disabled. Extended status information enabled. Error_Quit If this bit is set to "1," the following error bits are acknowledged: Overtemperature_Warning Overtemperature Overflow_Warning 24V_OK, Overload MotionDetectionTimeout. Error bits are not acknowledged. Error bits are acknowledged. Reserved WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 19 Preset function completed successfully. This bit indicates there is a status/error message. To view detailed Error information, set the control bit ‘ExtendedInfo_ON’ (C1.2) to ‘1,’ rather than the actual position the extended information is shown. No status/error message. Status/error message. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 20 LimitSwitch_ Signal voltage (0) at the input. Signal voltage (1) at the input. This bit indicates the input status of the negative limit switch. LimitSwitch_ Signal voltage (0) at the input. Signal voltage (1) at the input. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 21: Process Image With Extended Status Information

    Status byte S0 Control byte C0 Status byte S1 Control byte C1 Setpoint position Ext. status byte S2 (LSB) Ext. status byte S3 Setpoint position Ext. status byte S4 Setpoint position Setpoint position Ext. status byte S5 (MSB) WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 22: Extended Status Bytes

    ExtendedInfos is set. It is only possible to acknowledge this error bit if ‘MoveNeg’, ‘MovePos’ and ‘Positioning’ control bits are set to 0. 0: Pulses were received within the configured time period. 1: No pulses were received within the configured time period. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 23 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved Extended status byte S5 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Reserved WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 24: Function Description

    'Reference_OK' goes to logic 1. During running operation, this bit is reset to logic 0 by one of the following events: • restart a preset motion • failure of field-sided 24 V • overflow or underflow of the actual position counter. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 25: Stop Functions

    2.1.1.9.5 Operating Modes for Positioning The operating modes for setting the drive are divided into basic and auto mode. The following table illustrates the configuration conditions for the selection of the corresponding operating mode. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 26 Maximum n of positioning attempts while considering the gearbox clearance and the <> 0 drive direction. (Prestop update off) Maximum n of positioning attempts while considering the gearbox clearance and the <> 0 drive direction. (Prestop update on) WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 27: Prestop

    RT = 0 OZ = 0 AP = SP OT = 0 Fig. 2.1.1-7: Example 1 g063610x Zero (0) initializes the prestop. The motor turn-off position equals setpoint position. The setpoint position is overtravelled by the braking distance. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 28: Auto Mode

    Abbreviations used: Actual position Braking Distance Retry Setpoint position Acceleration Distance PU Prestop Up (RAM Register) Overtravel Base mode Prestop Down (RAM Register) Motor turn-off Auto mode Distance position Holding position Optimize Value WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 29: Positioning With Activated Optimization

    Down direction initializes the prestop. NOTICE: In this case, the prestop for the Up direction is not set because it already has a valid value. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 30: To 0 (Loop Traverse)

    Since the retry is initialized with 1in order co compensate for overtravel. If retry is initialized with 0, the setpoint position approach is made immediately even if the result of this approach may be worse than without driving cycle. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 31: Positioning With Negatively Initialized Overtravel

    If this is not the case, please see section 2.1.1.9.8.5, “Positioning with positively initialized overtravel” in order to find out what must be considered. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 32: Positioning With Positively Initialized Overtravel

    Down direction. In order to compensate for this, the setpoint position is overtravelled by a greater distance than the given overtravel so that the first setpoint position approach of the moving cycle can be successful. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 33: Positioning With Negatively Initialized Overtravel At Too Little Distance

    0, the positioning process is terminated and a positioning failure is output. In all other cases, the first retry attempt to reach the new setpoint position will begin. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 34 In this example, the distance to the new setpoint position is too small for successful positioning. The process is stopped and no further positioning attempts are made as the retry counter is initialized with 0. Example 9 shows the re-positioning of SP_new. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 35: Pwm Control During Positioning

    P2 or even phase P3. Phase P2 is defined by the two parameters CurrentLimit_PWM and CurrentLimit_Time. CurrentLimit_PWM defines the pulse duty cycle of the final stage trigger signal and CurrentLimit_Time defines the duration of Phase WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 36: Drive Versions Including Change To Lower Speed

    P1 to P5. If the distance between the start position and the setpoint position decreases, phase 3, and even phase 2, may be skipped by the moving cycle. The following two figures illustrate this example. The CurrentControl_ON control bit is disabled. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 37 RampTime_START. Phases P2 and P3 are skipped. NOTICE: If the distance between the start and setpoint positions becomes shorter than the actual distance that can be covered, as based on the RampTime_Start and RampTime_Stop runtime, then phase P4 will be skipped. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 38 Control.CurrentControl_ON = 0 Control.CurrentControl_ON = 1 Fig. 2.1.1-26: Example 19, "Approach with CurrentControl_PWM = f(Control.CurrentControl_ON), Version 1" g063628e The CurrentControl_ON can switch on CurrentControl_PWM after the start of phase P3, as well as switch it off again. WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 39 3 10 (ShutDown_Distance in P2). Using CurrentControl_ON, it is possible to start phase P3 with CurrentControl_PWM after the elapse of CurrentLimit_Time. Please note that the PWM can be set to 100 % by resetting CurrentControl_ON during phase P3. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 40: Standstill Condition

    1 pulse. Regarding positioning quality, smaller limit values lead to smaller positioning errors (especially with a large centrifugal mass or encoders that have a higher resolution), but also to a longer total time for the positioning operation. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 41: Maximum Pulse Frequency Of The Incremental Encoder

    To avoid overloading the quadrature decoder/counter, it is essential for the incremental encoder to function below the maximum value for pulses/rev. Fig. 2.1.1-29: Maximum number of pulses/revolution p036306e WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 42: Configuration Of The I/O Module Via The Parameter Channel

    If TIMEOUT = 0, the monitoring time is infinite. NO_OF_PRMS Number of words (parameter data) of the I/O module SET_DEFAULT_PRMS The I/O module is reset to factory settings WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 43: I/O Module-Specific Parameter Data

    CurrentControl_PWM Pulse duty cycle for PWM signal CurrentLimit_Time On-time of CurrentLimit_PWM MotionDetection Maximum waiting time until the first Timeout incremental encoder pulse *) No access via register for future developments! The following tables show the assignment and the factory setting of the parameters. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 44: Ramptime_Start, Ramptime_Stop

    The format of the value is the one of a 16-bit wide unsigned integer in the value range of 0 to 65535. 1 ... 65535: Prestop value during positioning operations 100:* Default prestop value positive direction * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 45: Prestop_Neg

    The format of the value is a 16-bit wide unsigned integer in the value range of 0 to 65535. Positioning must stop with setpoint position = actual position. 1 ... 65535: Positioning can stop within the tolerance range. 10:* Default tolerance range * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 46: Standstill_Limit, Positioning_Retry, Stopmode_Pwrup

    This bit is used to configure whether the motor final stage will set the motor at idle after module power-up or if it will short circuit the motormotor coils for deceleration. Motor final stage sets motor at idle Motor final stage decelerates * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 47: Presetvalue

    - Overtravel negative: overtravel position is overtravelled from smaller actual values. Move without overtravel -32768 ... -1: Setpoint position is always approached from below +1 ... +32767: Setpoint position is always approached from above * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 48: Triggermode_Inputs, Stop_Mode, Directionreversal_Delay48

    The motor interface delays the power-up procedure for n times 10 ms in case of rotation direction reversal. No delay in case of rotation direction reversal 1 ... 255: 10 ms to 2550 ms 50:* Default deceleration 500 ms * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 49: Filter_Time

    Default debounce time 30 ms Bit 8...11: Debounce time digital input P [0...15] No software debouncing 1...15: Debounce time of 3 ms to 45 ms 10:* Default debounce time 30 ms Bit 12...15: Reserved * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 50: Shutdown_Distance

    The format of the value is a 32-bit wide unsigned integer in the value range of 0 (0x00000000) to +2147483647 (0x7FFFFFFF). Negative values are converted by means of a two's complement before they are processed by the module application. 0x00000000* Value range ShutDown_Distance 0xFFFFFFFF * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 51: Currentlimit_Pwm, Currentcontrol_Pwm

    Please find more information on CurrentControl_PWM in section 2.1.1.9.10, „PWM Control during Positioning“. CurrentControl_PWM function is disabled. 1 ... 200*: PWM pulse duty cycle 0.5 %...100 % with a resolution 0.5 % 201 ... 255: PWM pulse duty cycle 100 % * factory setting WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 52: Currentlimit_Time, Motiondetectiontimeout

    The parameter channel is mapped via registers 56 and 57 of the appropriate table or the appropriate channel. The parameter data is stored word by word in register 56, communication control is done via register 57. The structure for registers 56 and 57 is described in the following sections. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 53: Register Structure

    PRM_RW Parameter data of A7...A0 is read Parameter data is written to A7...A0 MORE_PRM End of parameter transmission More parameter data to follow Reserved for expansions WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 54 The parameter/all parameters previously transmitted are valid. At least one transmitted parameter was defective. The flag can be either set after each parameter is received or after the transmission of the parameters is completed. Reserved for expansions WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 55: Register Communication

    The process for setting channels 1 and 2 are similar — via control and status bytes C1/S1, as well as data bytes D2 and D3 for channel 3 via control and status bytes C2/S2 and data bytes D4 and D5. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 56: Control And Status Byte For Register Communication

    Bit 3 Bit 2 Bit 1 Bit 0 REG_ Register number Register Register number for selected function (see Table "Setting Parameters"), number mirrored from control byte 0 REG_ 1: Register communication (mirrored from control byte C0) Reserved WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 57: Process Of Parameter Transmission

    After the last parameter data has been sent to the module (MORE_PRM = FALSE), the module checks the entire parameter set and accepts it if everything is correct. Otherwise, the module returns a parameter error (PRM_ERR = TRUE). WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 58: Example: (Coming Soon)

    Response (I/O module) Parameter Value Indicates TGL_SM == TGL_MS Instruction completed A0 ... A7 Address parameter data mirrored TIMEOUT FALSE, TRUE Monitoring time expired BUF_OFL FALSE, TRUE Access outside the module parameter range PRM_ERR FALSE, TRUE Parameter/parameter set error WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 59: Parameter Data Sets

    User Settings (2) upon module system start; i.e., after power-up or after a module reset. 2.1.1.10.6.1.2 User Settings (2) The parameter data set User Settings (2) offers the user the possibility to permanently store runtime parameters in the module and to reload them, if necessary. WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 60: Factory Default (3)

    The module does not automatically reset passwords. Without another write command to register 31, they will remain valid until the power down. The parameter data set Factory Default (3) may be only modified (written/changed) by WAGO Kontakttechnik GmbH & Co. KG. 2.1.1.10.6.3 Changing the Parameter Data Sets...

  • Page 61: User Settings (2)

    Factory Default (3) The parameter data set Factory Default (3) may be only modified (written/changed, etc.) by WAGO Kontakttechnik GmbH & Co. KG. The parameter data set Factory Default (3) will be transferred to the volatile memory area of the module; i.e., to the parameter set Actual (1), via REQ_RESTORE_FACTORY command, which will then be entered into register 3 of the module.

  • Page 62: Command Overview

    Negative (in case of invalid data) acknowledgement for data transfer after REQ_STORE_USER command RES_RESTORE_FACTORY_OK 0x0C Positive acknowledgement for data transfer after REQ_RESTORE_FACTORY command RES_RESTORE_FACTORY_NOK 0x0D Negative (in case of invalid data) acknowledgement for data transfer after REQ_RESTORE_FACTORY command WAGO-I/O-SYSTEM 750 I/O-Modules...

  • Page 63: Wago-I/O-System

    750-636 [DC Drive Controller] • 63 Configuration of the I/O Module via the Parameter Channel WAGO-I/O-SYSTEM 750 I/O-Modules...
  • Page 64 WAGO Kontakttechnik GmbH & Co. KG Postfach 2880 • D-32385 Minden Hansastraße 27 • D-32423 Minden Phone: 05 71/8 87 – 0 Fax: 05 71/8 87 – 1 69 E-Mail: info@wago.com Internet: http://www.wago.com...

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750-636

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