74 •
750-671 [Steppercontroller]
Configuration
WAGO-I/O-SYSTEM
750
I/O
Modules
There are two ways of processing a Move program:
Program mode:
The individual commands are compiled and loaded to the module by
download. The Move program can then be executed there through the
Program mode (see Chapter 2.1.2.11.1.7 , “Move program mode”)
Move task via mailbox:
The module can be operated via the mailbox using the move commands.
Movement can be made directly to different positions. This command is
accepted only when the mode "Move task via mailbox"(Chapter
2.1.2.11.2, ”Move Mode via Mailbox”) has been activated.
Each individual step in the Move program has the following format:
Byte
Meaning
1 Command
2 Data
1
3 Data
2
4 Data
3
The individual commands are elucidated in the appendix in section 3.2,
„Commands for Move Mode “.
2.1.2.10.7
Scaling, Number Ranges and Units
Stepper drives rotate at a defined angle on each pulse. The software is oriented
toward this pulse output and the internal unit of measure for the position is,
accordingly, a "Microstep". Velocity and acceleration are derived form this.
The interface enables adaptation and conversion to application-specific units
(path in m, mm, degrees, and velocities in m/s, degrees/s).
2.1.2.10.7.1
Internal Units of Measure
2.1.2.10.7.1.1
Time
On account of the periodical processing employed, time is measured in
TICKS, with a TICK being the duration of one scan interval. A TICK is equal
to one millisecond. Physical units based on time are converted accordingly.
