WAGO I/O SYSTEM 750 750-671, Manual

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102 • 750-671 [Steppercontroller]
Positioning
WAGO-I/O-SYSTEM 750
I/O Modules
2.1.2.11.1.7.3 Example of Move Program
In this example of a Move program, first the velocity (20000) and then the
acceleration (3000) is set. After this, a "True" signal is anticipated at Input 1
on line 2. If the signal is "True", movement is made to Position 1 (specified
position = 65065) and then the system waits for a "False" signal at input 1 on
line 4. If the "False" signal is received, movement is made to Position 2
(specified position = 0). The system then returns to line 2 of the Move
program, i.e. it waits for a "True" signal at Input 1.
Opcode Data
(LSB)
Data Data
(MSB) Line in
the
Move
table
MB2 MB3 MB4 MB5
Meaning
0 0x25 0x20 0x4E 0x00 Set velocity to 20000
1 0x22 0xB8 0x0B 0x00 Set acceleration to 3000
2 0x71 0x30 0x01 0x00 Query, Input 1 = "1"
3 0x02 0x20 0xFE 0x00 Move to position 65065
4 0x71 0x30 0x00 0x00 Query, Input 1 = "0"
5 0x02 0x00 0x00 0x00 Move to position 0
6 0xF5 0x02 0x00 0x00 Go to line 2
7 0x70 0xD0 0x07 0x00 Wait 2000 ms