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Function Description

WAGO-I/O-SYSTEM 750

750-636/000-x00 DC Drive Controller 24V/5A

Manual

Version 2.1.0

4.11 PWM Control during Positioning

4.11.1 General

It is possible to enable PWM control independently of the drive mode. Basically,

PWM control will have no impact on the direction and the number of moving

cycles during the positioning process. It is, in fact, possible to control the speed or

the torque during a moving cycle using PWM control.

In order to illustrate the positioning process via PWM control, the moving cycle is

divided up into five phases:

Table 16: Table Name

Phase

Function

Start ramp

Current limiting phase (CurrentLimit_PWM)

Approach at high speed (PWM 100%)

Approach at reduced speed (CurrentControl_PWM)

Deceleration ramp

Figure 24: Division of the Motion Cycle

Phase P1 only active if a soft start is configured via parameter

RampTime_START. Without ramp, this phase has a runtime of 0 s so that the

speed only increases in phase 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 P2.

Содержание 750-636

Страница 1: ...docx 64941 1 WAGO I O SYSTEM 750 Manual 750 636 000 x00 xxx xxx DC Drive Controller 24V 5A DC Drive Controller 24 V 5 A Version 2 1 0 Pos 3 Alle Serien Allgemeine M odul e Rechtliches Allgemei nes Imp...

Страница 2: ...wago com Every conceivable measure has been taken to ensure the accuracy and completeness of this documentation However as errors can never be fully excluded we always appreciate any information or s...

Страница 3: ...y Advice Precautions 12 3 Device Description 14 3 1 View 16 3 2 Connectors 17 3 2 1 Data Contacts Internal Bus 17 3 2 2 Power Jumper Contacts Field Supply 18 3 2 3 CAGE CLAMP Connectors 20 3 3 Display...

Страница 4: ...andstill Condition 48 4 14 Maximum Pulse Frequency of the Incremental Encoder 50 5 Mounting 51 5 1 Mounting Sequence 51 5 2 Inserting and Removing Devices 52 5 2 1 Inserting the I O Module 52 5 2 2 Re...

Страница 5: ...8 TriggerMode_Inputs Stop Mode DirectionReversal_Delay 79 8 6 9 Filter_Time 80 8 6 10 ShutDown_Distance 81 8 6 11 CurrentLimit_PWM CurrentControl_PWM 82 8 6 12 CurrentLimit_Time MotionDetectionTimeout...

Страница 6: ...Seri en Allgemei ne Module Sicher heits und sonstige Hi nweise Hi nweis Hinweis G ltig keit der Angaben f r aufg elistete Varianten 9 mod_1281520778141_21 docx 63085 1 Documentation Validity for Varia...

Страница 7: ...5 4 All e Serien Allgemei ne Module Sicherheits und sonstige Hi nweise Vorsicht Vorsicht _War nung vor Personensch den allgemein_ Erl uterung 13 mod_1343310028762_21 docx 101038 1 Personal Injury Ind...

Страница 8: ...rive Controller 24V 5A Manual Version 2 1 0 Additional Information Refers to additional information which is not an integral part of this documentation e g the Internet Pos 14 6 Dokumentation allgemei...

Страница 9: ...Font Conventions Pos 14 10 Alle Serien Allgemeine M odul e Rechtliches Allgemeines Schriftkonventi onen 3 mod_1221059521437_21 docx 21714 1 Table 3 Font Conventions Font Type Indicates italic Names of...

Страница 10: ...ns All sequences implemented on WAGO I O SYSTEM 750 devices may only be carried out by electrical specialists with sufficient knowledge in automation The specialists must be familiar with the current...

Страница 11: ...1 2 1 4 Technical Condition of Specified Devices The devices to be supplied ex works are equipped with hardware and software configurations which meet the individual application requirements WAGO Kont...

Страница 12: ...weise Gefahr Gefahr Unfall verh tungsvorschriften beachten 6 mod_1260180657000_21 docx 46735 1 Pos 17 10 4 Alle Serien Allgemeine M odul e Sicherheits und sonstige Hinweise Gefahr Gefahr Auf nor mgere...

Страница 13: ...of data and power supply lines as this may damage the devices involved Pos 17 11 6 Alle Serien Allgemeine M odul e Sicherheits und sonstige Hinweise Achtung Achtung El ektr ostatische Entladung vermei...

Страница 14: ...750 WAGO I O SYSTEM Ger tebeschr eibung Ei nleitung Versorgung M otor versorgungsspannung U A2 30 mod_1501157651135_21 docx 456756 1 The motor supply voltage must be connected separately to the UA con...

Страница 15: ...ngen ohne Variable 750 636 18 mod_1392707215425_21 docx 145718 1 Using in safety related applications When using the I O module 750 636 000 800 in safety related applications the instructions and conn...

Страница 16: ...I O SYSTEM Ger tebeschrei bung Ansicht Ansicht C ageCl amp _Legende mit LEDs mit 1 Entrieg elungslasche 15 mod_1370867188922_21 docx 122225 1 Table 4 Legend for Figure View Pos Description Details Se...

Страница 17: ...as self cleaning gold spring contacts Figure 2 Data Contacts Pos 20 9 2 Serie 750 WAGO I O SYSTEM Wichtige Erl uterungen Sicherheits und sonstige Hinweise Achtung Achtung Buskl emmen nicht auf Gol dfe...

Страница 18: ...g Anschl sse Leistungskontakte 2 LK M esser Feder Abbildung ei nfache Breite Standard 15 mod_1367500700037_21 docx 118396 1 Figure 3 Power Jumper Contacts Pos 20 12 4 Serie 750 WAGO I O SYSTEM Ger teb...

Страница 19: ...y modules for ground earth The I O module has no power jumper contacts for receiving and transmitting the earth potential Use a supply module when an earth potential is needed for the subsequent I O m...

Страница 20: ...CLAMP Connectors Table 6 Legend for Figure CAGE CLAMP Connectors Designation Connector Function E 1 Input for positive limit switch break make contact configurable E 5 Input for negative limit switch...

Страница 21: ...l voltage 0 Green Input E Signal voltage 1 LimitSwitch _Neg B Off Input E Signal voltage 0 Green Input E Signal voltage 1 PresetInput C Off Input P Signal voltage 0 Green Input P Signal voltage 1 24 V...

Страница 22: ...nd sonstige Hinweise Hinweis Hi nweis R ckspeisung durch gener atorischen Betri eb 18 mod_1390562451027_21 docx 143352 1 Avoid an increase of supply voltage Energy can be recovered to the power supply...

Страница 23: ...acts 24 V DC Current consumption system voltage max 5 V DC 55 mA Current consumption power jumper contacts max 24 V DC 10 mA Voltage via power jumper contacts 24 V DC 15 20 Current via power jumper co...

Страница 24: ...ltage 0 3 V 1 5 V DC Signal voltage 1 2 4 V 30 V DC Input current typ 3 2 mA at 0 3 V 0 mA bei 5 V Max operating frequency 50 kHz Quadrature decoder 1 fold 2 fold 4 fold report Counter 32 bits binary...

Страница 25: ...re monitoring of the board takes effect and a shutdown occurs with the Overtemperature error message Figure 7 Start Current On time at PWM operation 27 5 V 5A at 25 C and 55 C If the on time is exceed...

Страница 26: ...GO I O SYSTEM Ger tebeschr eibung Technische D aten Anschl usstechni k Technische Daten D atenkontakte 17 mod_1380123495844_21 docx 132794 1 Table 11 Technical Data Data Contacts Data contacts Slide c...

Страница 27: ...21 docx 70927 1 The I O modules 750 636 000 x00 meet the following requirements on emission and immunity of interference Pos 20 32 Alle Serien Allgemeine M odul e Nor men und Richtlini en EM V Nor men...

Страница 28: ...such as ShutDown_Distance gear backlash compensation Overtravel variable target window size swing back distance extension and the number retries Positioning_Retry allow adaptation to the particular me...

Страница 29: ...ng events Stop Mode_STANDARD Move Positioning Stop Mode_EXCEPTION on actuation of the limit switch Stop Mode_EMERGENCY see chapter Protective Functions Stop Mode_Pwr_Up after switching on the node The...

Страница 30: ...during positioning for each braking process using the determined braking distance Mode Over travel Retry Optimize _ON Description Basis 0 0 0 Moving once to the stop or arriving at the setpoint posit...

Страница 31: ...Optimize_ON 0 the prestop value is not written back but the current value of the corresponding RAM register is taken into account In this operating mode the higher level PLC can optimize values in th...

Страница 32: ...nce to the setpoint position SP IP AD BD has made it impossible to precisely reach the setpoint position despite the prestop being set correctly 4 9 Auto Mode For the following examples it is presumed...

Страница 33: ...prestop for the Down direction is also initialized with the braking distance as is currently still set to 0 The following positioning approaches in Down direction does not require calibration and may...

Страница 34: ...the prestop for the Up and Down directions and the actual position is below the setpoint position At least 1 repetition is required for positioning First the prestop value for the Up direction must be...

Страница 35: ...Up and Down direction are initialized and the actual position is below the setpoint position It is now detected that the distance to the setpoint position is too short to be reached directly Since th...

Страница 36: ...etpoint position than the absolute value of the overtravel the setpoint position can be reached within the first motion cycle Example 9 Figure 18 Example 9 The actual position is above the setpoint po...

Страница 37: ...he setpoint position can be reached within the first motion cycle Example 11 Figure 20 Example 11 The actual position is below the setpoint position The drive should now overtravel the setpoint positi...

Страница 38: ...vely initialized overtravel forces the setpoint position to be approached from below It is detected that the distance to the setpoint position is smaller than the absolute value of the overtravel The...

Страница 39: ...position is in an opposite direction the drive will stop If so the determined brake path for the current direction of motion is not copied to the corresponding RAM register If the configured retry co...

Страница 40: ...M control the moving cycle is divided up into five phases Table 16 Table Name Phase Function P1 Start ramp P2 Current limiting phase CurrentLimit_PWM P3 Approach at high speed PWM 100 P4 Approach at r...

Страница 41: ...OP parameter If its value is 0 the process is stopped immediately according to StopMode Additionally it is possible to enable CurrentControl_PWM during a MovePos or MoveNeg approach via CurrentControl...

Страница 42: ...e 17 ShutDown_Distance is reached in phase P1 Figure 27 Example 17 ShutDown_Distance is Reached in Phase P1 The waypoint that is supposed to start phase P4 is already in phase P1 However since it is n...

Страница 43: ...be that the direction dependent prestop is at least the length of the configured ShutDown_Distance ShutDown_Distance Prestop The following examples also use the CurrentControl_ON control bit It can be...

Страница 44: ...h with CurrentControl_PWM f Control CurrentControl_ON Version 2 CurrentControl_ON 2 is already set during phase P1 Phase P2 must not be interrupted prematurely as shown in example 16 ShutDown_Distance...

Страница 45: ...mized for time and distance in all process situations Again here if the acceleration distance is shorter than the braking distance then the value of the braking distances is used for the acceleration...

Страница 46: ...th CurrentControl_PWM Figure 33 Braking from CurrentControl_PWM CurrentControl_PWM CurrentLimit_PWM 4 12 2 Calculating the Acceleration Distance The acceleration distance is only defined for a setpoin...

Страница 47: ...r Definition of the Swing Back Drives ensure that the braking distance and subsequently determined prestop stay nearly unchanged in the braking moment due to the ever constant speed However if the mec...

Страница 48: ...rotary transducer impulses In addition the standstill evaluation is also executed in the inactive positioning cycle In both cases the result is displayed in the I O module status of the process image...

Страница 49: ...Example 2 pulses per acquisition interval Figure 35 Standstill Condition Relative to positioning quality smaller limit values lead to smaller positioning errors especially with a large centrifugal ma...

Страница 50: ...nd 50 000 pulses per second an incremental encoder provides a maximum of 652 pulses rev Encoders with 512 pulses sec normally meet the requirements of DC motor applications The following diagram illus...

Страница 51: ...l etzungsgefahr durch scharfkantige M esser kontakte 6 mod_1256193279401_21 docx 43414 1 Risk of injury due to sharp edged blade contacts The blade contacts are sharp edged Handle the I O module caref...

Страница 52: ...ices Pos 26 8 Serie 750 WAGO I O SYSTEM M ontieren D emontieren I O Modul einf g en 3 mod_1231769726703_21 docx 25989 3 1 5 2 1 Inserting the I O Module 1 Position the I O module so that the tongue an...

Страница 53: ...od_1239169375203_21 docx 30334 3 1 5 2 2 Removing the I O Module 1 Remove the I O module from the assembly by pulling the release tab Figure 39 Removing the I O Module Example Electrical connections f...

Страница 54: ...ctors Only connect one conductor to each CAGE CLAMP Only one conductor may be connected to each CAGE CLAMP Do not connect more than one conductor at one single connection If more than one conductor mu...

Страница 55: ...DC Drive Controller 24V 5A provides the fieldbus coupler controller with a 6 byte input and output process image via one logical channel The position data to be sent and received are stored in 4 outp...

Страница 56: ...en the bit changes from LOW to HIGH the value of the setpoint position is transferred as preset value into the actual position The preset register is unaffected by this action The L H ramp is only con...

Страница 57: ...optimize the prestop during a positioning process This means that the prestop is reset as of the next moving cycle at every stop using the determined braking distance To determine the braking distance...

Страница 58: ...d is being executed Standstill This bit is set to logic 1 when the I O module detects the standstill condition or does not detect incremental encoder pulses independent if an actuation command is bein...

Страница 59: ...anged 0 Extended status information disabled 1 Extended status information enabled PWM_Active This bit shows whether the I O module at the motor output generates a PWM signal 0 No PWM signal at the mo...

Страница 60: ...ed 1 Both 24 V power supply systems are available Overload The I O module output stage has detected an overload error The overload error derived from driver diagnostics occurs in the event of both an...

Страница 61: ...Byte S5 Extended Status Byte S5 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 X X X X X X X X X Reserved Pos 34 Serie 750 WAGO I O SYSTEM Prozessabbild Kl emmenbus Sonder klemmen Pr ozessabbild 750...

Страница 62: ...byte of register communication REG_D0 Lower byte LSB of a register value read by the I O module process image of the inputs or to be written to the I O module process image of the outputs REG_D1 Upper...

Страница 63: ...Controller 24V 5A and a PLC application Register communication of the I O module 750 636 000 x00 DC Drive Controller 24V 5A is not a permanent part of the process image but may be mapped as required I...

Страница 64: ...ment of Status Byte REG_S for Register Communication Status Byte REG_S Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 1 0 REG_NO REG_NO Register number e g 56 or 57 If a successful write operation is...

Страница 65: ...written values until the power supply is switched off next Therefore specify password register 31 with 0x0000 once you have completed all pending changes to registers This restores protection against...

Страница 66: ...ttings Custom specific parameter settings 3 Factory Default Manufacturer specific parameter settings 8 2 1 1 Actual 1 The parameter record Actual 1 contains the parameters used by the I O module The p...

Страница 67: ...ameter data set Factory Default 3 may be only modified by WAGO Kontakttechnik GmbH Co KG 8 2 3 Changing the Parameter Data Sets Figure 42 Changing the Parameter Data Sets 8 2 3 1 Actual 1 The paramete...

Страница 68: ...ansferred 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 8 2 4 Transfer of the Par...

Страница 69: ...2 Response acknowledgement reg 4 Value Description RES_RESTORE_USER_OK 0x08 Positive acknowledgement for data transfer after REQ_RESTORE_USER command RES_RESTORE_USER_NOK 0x09 Negative in case of inv...

Страница 70: ...tion is controlled for the data The basic sequence for reading a parameter is 1 Write register 57 with the read request command 2 Read register 57 to check the execution status 3 If the read request w...

Страница 71: ...A7 A0 is read TRUE Parameter data is written to A7 A0 MORE_SM FALSE End of parameter transmission TRUE More parameter data to follow TGL_SM FALSE TRUE Toggle bit indicating that a parameter sent by t...

Страница 72: ...scription TGL_MS TGL_SM Enter instruction PRM_RW FALSE Read access TRUE Write access MORE_PRM FALSE Parameter data transmission is completed TRUE More parameter data follows A0 A7 0 n 1 Parameter addr...

Страница 73: ...fic parameter addresses are differentiated The following parameters parameter addresses are defined to access the system parameters of the I O module Table 37 2 1 General parameter data Parameters Des...

Страница 74: ...erance range 3 38 Standstill_Limit Standstill maximum speed 4 39 EnginePowerSupply Selection of motor voltage IncScale 1x 2x or 4x evaluation of quadrature pulses Positioning_Retry Maximum number of r...

Страница 75: ...p phase The standard start behavior is defined with the start ramp length which enables start up of the motor with or without softstart For a soft start the implemented ramp function is used taking th...

Страница 76: ...ive direction 0 65535 The configured value determines the prestop value to be used for optimization during a positioning operation in a negative direction if the option is enabled in the control byte...

Страница 77: ...erated at motor operating voltage levels less than 24 V when this bit is set In this case motor voltage monitoring is de activated 0 Motor voltage 24 V 1 Motor voltage 24 V Bit 8 9 0 3 Evaluation of q...

Страница 78: ...oning interface initializes the actual position with the preset value The format of this value corresponds to a 32 bit wide integer value with sign ranging from 2147483648 0x80000000 to 2147483647 0x7...

Страница 79: ...edge sensitive 0 Response to falling edge break contact 1 Response to rising edge make contact Bit 3 Reserved Bit 4 7 Stop Mode Use these bits to configure whether the motor final stage sets the moto...

Страница 80: ...ital inputs with n times 3 ms Bit 0 3 Debouncing time digital input E 0 15 0 No software debouncing 1 15 3 ms to 45 ms debouncing time with a resolution of 3 ms 10 Default debouncing time 30 ms Bit 4...

Страница 81: ...hing the setpoint position This value determines the distance to the setpoint position If the configured distance is less than the directionally dependent prestop or 0 the CurrentControl_PWM function...

Страница 82: ...WM Control during Positioning 0 CurrentLimit_PWM function is disabled 1 200 PWM pulse duty factor 0 5 100 with a resolution 0 5 201 255 PWM pulse duty factor 100 175 PWM pulse duty factor 87 5 Bit 8 1...

Страница 83: ...urrentControl_PWM is available in the chapter Function Description PWM Control during Positioning 0 CurrentLimit_PWM function is disabled 1 255 The CurrentLimit_PWM function is switched on with a Curr...

Страница 84: ...3 Motor final stage decelerates Bit 6 7 Reserved Bit 8 Stop Mode_Entry This setting defines whether entry to the Stop mode is to take place unconditionally after reaching the end of the electrical ra...

Страница 85: ...ess Factory default setting 15 Increase_Swing_Back R W 0x0000 Bit 0 7 Increase_Swing_Back 0 255 This value is indicated as a percentage at a resolution of 10 within a range of 0 to 2550 for extending...

Страница 86: ...ithin the limit values 1 The actual position is outside the limit values Bit 3 24 V_OK depending on the I O module used 0 The 24 V field power supply has failed only for 750 636 A 24 V power supply sy...

Страница 87: ...tion Access Factory default setting 17 Swing_Back_Distance R 0x0000 Display of current swing back distance The value format corresponds to a 16 bit wide integer value with sign in the value range betw...

Страница 88: ...he product name is suited for use in interference free safety circuits Pos 38 2 Serie 750 WAGO I O SYSTEM Einsatz in sicherheitsg erichteten Anwendung en Sicher hei tsver halten 6 mod_1258973946909_21...

Страница 89: ...lutely mandatory This means that the interference free digital output module shall only be integrated and operated in switch boxes or switch cabinets complying with IP54 or higher Avoid reverse supply...

Страница 90: ...fety Switching Devices or F I O Modules 9 2 1 General Structure When using the interference free variant xxx 8xx of the I O module 750 636 000 x00 in safety related applications the modules belonging...

Страница 91: ...eten Anwendung en Anschlussbeispi ele Anschlussbeispiel 2 4 Kanal Digital ausg angskl emmen i n Sicherheitsanwendungen 750 636 000 800 30 mod_1501138006549_21 docx 456639 3 1 1 Einsatz der r ckwir kun...

Страница 92: ...Reached in Phase P3 41 Figure 26 Example 16 ShutDown_Distance is Reached in Phase P2 42 Figure 27 Example 17 ShutDown_Distance is Reached in Phase P1 42 Figure 28 Example 18 Approach without CurrentC...

Страница 93: ...O I O SYSTEM 750 List of Figures 93 750 636 000 x00 DC Drive Controller 24V 5A Manual Version 2 1 0 Pos 43 D okumentation allgemei n Glieder ungselemente Seitenwechsel 3 mod_1221108045078_0 docx 21810...

Страница 94: ...6 Table 20 Control Byte C1 57 Table 21 Status Byte S0 58 Table 22 Status Byte S1 59 Table 23 Extended Status Byte S2 60 Table 24 Extended Status Byte S3 61 Table 25 Extended Status Byte S4 61 Table 26...

Страница 95: ...entLimit_PWM CurrentControl_PWM 82 Table 50 2 2 3 CurrentLimit_Time MotionDetectionTimeout 83 Table 51 2 2 3 Brake Mode Stop Mode_Entry Encoder_Limit_Frequency 84 Table 52 2 2 3 Increase_Swing_Back 85...

Страница 96: ...te 2015 9 mod_1285229376516_21 docx 64944 1 WAGO Kontakttechnik GmbH Co KG Postfach 2880 D 32385 Minden Hansastra e 27 D 32423 Minden Phone 05 71 8 87 0 Fax 05 71 8 87 1 69 E Mail info wago com Intern...

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